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. (C) 2004 Elsevier Ltd. All rights reserved.
%0 Journal Article
%1 KanSch04a
%A Kanev, S.
%A Scherer, C. W.
%A Verhaegen, M.
%A De Schutter, B.
%D 2004
%J Automatica
%K robust multiobjective synthesis control imng feasibility bilinear h-infinity inequalities algorithms formulas linear-systems global h-2 matrix uncertainty output-feedback from:carsten.scherer design optimization parameter peerReviewed lmis structured dynamic order
%N 7
%P 1115-1127
%T Robust output-feedback controller design via local BMI optimization
%U https://doi.org/10.1016/j.automatica.2004.01.028
%V 40
%X 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. (C) 2004 Elsevier Ltd. All rights reserved.
@article{KanSch04a,
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. (C) 2004 Elsevier Ltd. All rights reserved.},
added-at = {2021-12-01T21:53:35.000+0100},
author = {Kanev, S. and Scherer, C. W. and Verhaegen, M. and De Schutter, B.},
biburl = {https://puma.ub.uni-stuttgart.de/bibtex/250eb44f91950357cf988eb9394027e14/mathematik},
endnotereftype = {Journal Article},
file = {<Go to ISI>://000221904200002},
interhash = {79b43995f394ecc9dbf6ddc0aa390ca5},
intrahash = {50eb44f91950357cf988eb9394027e14},
issn = {0005-1098},
journal = {Automatica},
keywords = {robust multiobjective synthesis control imng feasibility bilinear h-infinity inequalities algorithms formulas linear-systems global h-2 matrix uncertainty output-feedback from:carsten.scherer design optimization parameter peerReviewed lmis structured dynamic order},
month = jul,
number = 7,
pages = {1115-1127},
shorttitle = {Robust output-feedback controller design via local BMI optimization},
timestamp = {2024-03-12T10:23:32.000+0100},
title = {{R}obust output-feedback controller design via local {BMI} optimization},
url = {https://doi.org/10.1016/j.automatica.2004.01.028},
volume = 40,
year = 2004
}
