Robust output-feedback controller design via local BMI optimization

Authors:
S. Kanev;C. Scherer;M. Verhaegen;B. De Schutter
Affiliations:
Delft Center for Systems and Control, Delft University of Technology, Mekelweg 2, Delft 2628 CD, The Netherlands;Delft Center for Systems and Control, Delft University of Technology, Mekelweg 2, Delft 2628 CD, The Netherlands;Delft Center for Systems and Control, Delft University of Technology, Mekelweg 2, Delft 2628 CD, The Netherlands;Delft Center for Systems and Control, Delft University of Technology, Mekelweg 2, Delft 2628 CD, The Netherlands
Venue:
Automatica (Journal of IFAC)
Year:
2004

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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.