Reference:
S. Kanev,
C. Scherer,
M. Verhaegen, and
B. De Schutter,
"A BMI optimization approach to robust output-feedback control,"
Proceedings of the 42nd IEEE Conference on Decision and
Control, Maui, Hawaii, pp. 851-856, Dec. 2003.
Abstract:
In this paper a new approach is proposed to design locally optimal
robust output-feedback controllers. It is iterative by nature, and
starting from any initial feasible controller it performs local
optimization over a suitably defined non-convex function at each
iteration. The approach features the properties of computational
efficiency, guaranteed convergence to a local optimum, and
applicability to a very wide range of problems. The paper also
proposes a fast procedure for initially feasible controller
computation based on LMIs. The design objectives considered are
H2, H∞, and
pole-placement constraints. The procedure consists of two steps: first
an optimal robust mixed
H2/H∞/pole-placement
state-feedback gain is designed, which is consequently kept fixed at
the second step during the design of the remaining controller
matrices. The approach is demonstrated on a model of one joint of a
real-life space robotic manipulator.