Robust and optimal control

TLDR

Robust control emerged as a response to perceived shortcomings of optimal control, but the distinction has blurred as robust control has become mainstream and optimal control methods now permeate robust control theory. The paper briefly reviews the historical relationship between modern optimal control and robust control. The authors survey the evolution of these control paradigms. The convergence is particularly evident in H‑infinity theory, which is the paper’s primary focus.

Abstract

This paper will very briefly review the history of the relationship between modern optimal control and robust control. The latter is commonly viewed as having arisen in reaction to certain perceived inadequacies of the former. More recently, the distinction has effectively disappeared. Once-controversial notions of robust control have become thoroughly mainstream, and optimal control methods permeate robust control theory. This has been especially true in H-infinity theory, the primary focus of this paper.