16 lines
714 B
Markdown
16 lines
714 B
Markdown
Short answer, it isn't.
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There's a lot of papers that do 'robust control synthesis and verification' but the verification is actually formal methods
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1. [[farzanRobustControlSynthesis2020]]
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1. Uses reach tubes to claim robustness.
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2. Verification is several trials with one single plant perturbation.
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3. Different initial conditions for sure, but the plant is only changed once, and is actually a structured perturbation (20% less stiffness)
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I hate robot people. They use the word robust too softly.
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2. [[matusuRegionsRobustRelative2023]]
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1. This plant has a structured perturbation
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2. The stuff they do with PI is kind of cool I guess
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3. No formal methods
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4. They reinvent the factor of safety. Silly |