الفهرس 
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Abstract
In this thesis, a CADING technique is developed for a robust control system design, where a system with good disturbance rejection and low sensitivity to parameters variation could be obtained. It relies on two different techniques. The first, is the modified error criteria (the method of inequalities) [1]. While the second is the decomposition-coordination technique [2]. The compensated system has nearly optimal response with respect to the constraints proposed by the designer.
The method of inequalities is an explicit and efficient formulation of what occurs in practice where the designer performs a series of adjustments to controller parameters. Observation of system response to certain input are considered till a satisfactory system response is obtained. These inequalities may arise in a number of ways but usually represent performance specifications and constraints of, physical, engineering or financial kind. The approach has the advantage that a wide range of practically meaningful design constraints can be formulated in terms of such inequalities.
The decomposition-coordination approach deals with the determination of a two level control stru•cture to optimize a complex process. Each local agent optimizes a different performance index, defined by a proper partition of the global criterion plus a correction term. The method offers a great flexibility in the choice of the local performance indices. Application of the developed technique to control system design showed satisfactory results and revealed the potential and effectiveness of the approach. It could be as a hybrid one as two different techniques are used iteratively to achieve the overall design objectives. Of these practical systems: design of an effective control system for infusion of insulin in blood pressure of a human bOdy, a digital controller for mean arterial blood pressure regulation, a robust controller for the antenna tracking problem, and designing an effective digital braking control system.