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.
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BibTeX
@inproceedings{KanSch:03-004,
author = {Kanev, Stoyan and Scherer, Carsten and Verhaegen, Michel and De
Schutter, Bart},
title = {A {BMI} Optimization Approach to Robust Output-Feedback
Control},
booktitle = {Proceedings of the 42nd IEEE Conference on Decision and
Control},
address = {Maui, Hawaii},
pages = {851--856},
month = dec,
year = {2003}
}