Iterative ‐conic controller synthesis

This paper proposes a method to synthesize controllers that minimize an upper bound on the closed‐loop ‐norm while imposing desired controller conic bounds. An initial conic controller is synthesized and iteratively improved. Conic sectors can be used to characterize a variety of input‐output proper...

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Bibliographic Details
Published inInternational journal of robust and nonlinear control Vol. 29; no. 11; pp. 3701 - 3714
Main Authors Bridgeman, Leila Jasmine, Forbes, James Richard
Format Journal Article
LanguageEnglish
Published 25.07.2019
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ISSN1049-8923
1099-1239
DOI10.1002/rnc.4581

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Summary:This paper proposes a method to synthesize controllers that minimize an upper bound on the closed‐loop ‐norm while imposing desired controller conic bounds. An initial conic controller is synthesized and iteratively improved. Conic sectors can be used to characterize a variety of input‐output properties, such as gain, phase, and minimum gain. If such plant properties hold robustly to uncertainty present, then closed‐loop stability can be ensured robustly via the Conic Sector Theorem by imposing desired controller conic bounds. Consequently, this paper provides a versatile optimal and robust controller synthesis method. Moreover, it relies only on the solution of convex optimization problems subject to linear matrix inequality constraints, making it readily implementable.
ISSN:1049-8923
1099-1239
DOI:10.1002/rnc.4581