%0 Journal Article %1 KanSch04a %A Kanev, S. %A Scherer, C. W. %A Verhaegen, M. %A De Schutter, B. %D 2004 %J Automatica %K %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 = {2024-03-12T10:23:32.000+0100}, author = {Kanev, S. and Scherer, C. W. and Verhaegen, M. and De Schutter, B.}, biburl = {https://puma.ub.uni-stuttgart.de/bibtex/250eb44f91950357cf988eb9394027e14/mst}, endnotereftype = {Journal Article}, file = {<Go to ISI>://000221904200002}, interhash = {79b43995f394ecc9dbf6ddc0aa390ca5}, intrahash = {50eb44f91950357cf988eb9394027e14}, issn = {0005-1098}, journal = {Automatica}, keywords = {}, 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 }