Algorithms for robust control design: controllers that explicitly account for disturbances, uncertainty, and model mismatch.
| Algorithm | Description |
|---|---|
| Active Disturbance Rejection Control | Near model-free controller pairing an Extended State Observer with bandwidth-parameterized PD feedback to estimate and cancel total disturbance in real time |
| Sliding Mode Control | Variable-structure controller driving the state onto a sliding surface with a boundary layer to suppress chattering — robust to matched disturbances and parameter uncertainty |
| Disturbance Observer | Estimates lumped disturbance and model mismatch via the nominal plant inverse and a Q-filter, cancelling the disturbance to make the real plant behave like the nominal model |
| H∞ State-Feedback Control | Game-theoretic robust state-feedback gain synthesized via bisection on the game-theoretic DARE with an indefinite weight, guaranteeing a hard L2 disturbance-to-error attenuation bound |