Robust Decoupling Integration of FE and FTC

This chapter presents a robust decoupling strategy for the integration of FE and FTC to avoid the bilinear matrix inequality issue and enjoy more design freedom. The strategy uses the principle of Small Gain Theorem to separate the FE and FTC designs by attenuating the bidirectional robustness interactions between them. An iterative algorithm is proposed to solve the FE and FTC gains and balance the robustness against external disturbance and the interactions.