Robust control of constrained systems via convex optimization

Publisher Website
Google Scholar
Abstract
A successful controller design paradigm must take into account both model uncertainty and design specifications. Model uncertainty can be successfully addressed using ℋ︁∞robust control theory. However, this framework cannot directly accommodate the realistic case where in addition to robustness considerations the system is subject to both time‐ and frequency‐domain specifications, such as bounds on the control action. In this paper we propose a design procedure, based upon the use of convex optimization, that takes explicitly into account both time‐ and frequency‐domain specifications. The main result of the paper is a new framework to address problems having both control and output constraints and model uncertainty. Additionally, the paper serves as a brief tutorial on the issues involved in addressing design problems with multiple design specifications via convex optimization.