Reference
S. Kanev, C. Scherer, M. Verhaegen, and B. De Schutter, "Robust output-feedback
controller design via local BMI optimization,"
Automatica, vol. 40, no. 7, pp. 1115-1127, July 2004.
Abstract
The problem of designing a
globally optimal full-order
output-feedback controller for polytopic uncertain systems is known to be a
non-convex NP-hard optimization problem, that can be represented as a bilinear
matrix inequality optimization problem for most design objectives. In this
paper a new approach is proposed to the design of
locally
optimal 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. Furthermore, a
fast (but conservative) LMI-based procedure for computing an initially feasible
controller is also presented. The complete approach is demonstrated on a model
of one joint of a real-life space robotic manipulator.
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BibTeX
@article{KanSch:03-007,
author = {Kanev, Stoyan and Scherer, Carsten and Verhaegen, Michel and De
Schutter, Bart},
title = {Robust Output-Feedback Controller Design via Local {BMI}
Optimization},
journal = {Automatica},
volume = {40},
number = {7},
pages = {1115--1127},
month = jul,
year = {2004}
}