Parametric robust structured control design

TL;DR

This paper introduces a novel parametric robust control design method that optimizes controllers of arbitrary order to minimize worst-case $H__$ norm across uncertain parameters, using a specialized nonsmooth minimization approach.

Contribution

It presents a new technique for designing controllers that handle complex parametric uncertainties with arbitrary structure and order, improving robustness optimization.

Findings

Effective in dealing with multiple uncertain parameters

Can optimize controllers of arbitrary order and structure

Demonstrates potential through extensive testing and examples

Abstract

We present a new approach to parametric robust controller design, where we compute controllers of arbitrary order and structure which minimize the worst-case $H_\infty$ norm over a pre-specified set of uncertain parameters. At the core of our method is a nonsmooth minimization method tailored to functions which are semi-infinite minima of smooth functions. A rich test bench and a more detailed example illustrate the potential of the technique, which can deal with complex problems involving multiple possibly repeated uncertain parameters.