# History
## Where did Robust Control come from?
After the beginnings of modern control and the development of optimal control, John Doyle released a paper in 1978 titled [Guaranteed Margins for LQG regulators](doyleGuaranteedMarginsLQG1978a). This is a less than one page paper that basically gave birth to the robust control field, with a three word abstract: "There are none."



# What does Robust Control do?
Robust control works with 
[[What is gain scheduling?]]
# What are the limits?