A decentralized voltage control scheme to achieve robust stability and robust performance of islanded direct current (DC) microgrids is presented in this paper. The investigated microgrid consists of multiple distributed generation (DG) units with a general topology, each one comprising a local uncertain ZIP (constant impedance (Z), constant current (I), and constant power (P)) load. The proposed controller confers the following main advantages: 1) the design procedure is scalable, 2) it has a completely decentralized structure, 3) it prepares stability and desirable performance of the nominal closed-loop microgrid, 4) it preserves robust stability as well as robust performance of microgrid system under different sources of uncertainty, including plug-and-play (PnP) functionalities of DGs, microgrid topology changes, uncertain ZIP load, and unmodeled load dynamics, 5) every local controller is the solution of a unique convex optimization problem, resulting in the optimal performance and robustness to several different successive changes. First, a linear time-invariant (LTI) state-space model is developed for each DG subsystem with capturing disturbances, and different uncertainty sources are modeled as a new single polytope. Then, all control objectives are converted into a robust dynamic output-feedback-based controller for an LTI polytopic system with performance criterion. Finally, the obtained nonconvex problem is reduced to a linear matrix inequality (LMI) based optimization problem. Several simulation case studies are carried out in MATLAB to demonstrate the effectiveness of the proposed controller.
