Multi-model, multi-objective tuning of fixed-structure controllers

Abstract

We present a new technique for tuning arbitrary linear control structures against multiple plant models, multiple H <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">2</sub> and H <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">∞</sub> performance requirements, and additional constraints on open-loop stability and closed-loop pole locations. Our approach relies on non-smooth optimization and strikes a good balance between flexibility and effectiveness. Its capabilities are illustrated on two challenging applications.