Robust Regret Optimal Control
Abstract
This paper presents a synthesis method for robust, regret optimal control. The plant is modeled in discrete-time by an uncertain linear time-invariant (LTI) system. An optimal non-causal controller is constructed using the nominal plant model and given full knowledge of the disturbance. Robust regret is defined relative to the performance of this optimal non-causal control. It is shown that a controller achieves robust regret if and only if it satisfies a robust performance condition. DK-iteration can be used to synthesize a controller that satisfies this condition and hence achieve a given level of robust regret. The approach is demonstrated three examples: (i) a simple single-input, single-output classical design, (ii) a longitudinal control for a simplified model for a Boeing 747 model, and (iii) an active suspension for a quarter car model. All examples compare the robust regret optimal against regret optimal controllers designed without uncertainty.
Cite
@article{arxiv.2307.14297,
title = {Robust Regret Optimal Control},
author = {Jietian Liu and Peter Seiler},
journal= {arXiv preprint arXiv:2307.14297},
year = {2025}
}