Iterative H2-conic controller synthesis

This paper proposes a method to synthesize controllers that minimize an upper bound on the closed-loop H2-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.

Duke Scholars

Author Leila Bridgeman Thomas Lord Department of Mechanical Engineering and Materia ...