https://puma.ub.uni-stuttgart.de/group/simtech/multiobjectivePUMA RSS feed for /group/simtech/multiobjective2026-04-21T19:03:53+02:00https://puma.ub.uni-stuttgart.de/bibtex/250eb44f91950357cf988eb9394027e14/carsten.scherercarsten.scherer2021-12-07T20:40:52+01:00robust multiobjective synthesis control imng feasibility h-infinity inequalities bilinear algorithms formulas linear-systems global h-2 matrix uncertainty output-feedback optimization design parameter peerReviewed lmis structured dynamic order <span data-person-type="author" class="authorEditorList "><span><span itemtype="http://schema.org/Person" itemscope="itemscope" itemprop="author"><a title="S. Kanev" itemprop="url" href="/person/179b43995f394ecc9dbf6ddc0aa390ca5/author/0"><span itemprop="name">S. Kanev</span></a></span>, </span><span><span itemtype="http://schema.org/Person" itemscope="itemscope" itemprop="author"><a title="C. W. Scherer" itemprop="url" href="/person/179b43995f394ecc9dbf6ddc0aa390ca5/author/1"><span itemprop="name">C. Scherer</span></a></span>, </span><span><span itemtype="http://schema.org/Person" itemscope="itemscope" itemprop="author"><a title="M. Verhaegen" itemprop="url" href="/person/179b43995f394ecc9dbf6ddc0aa390ca5/author/2"><span itemprop="name">M. Verhaegen</span></a></span>, </span> and <span><span itemtype="http://schema.org/Person" itemscope="itemscope" itemprop="author"><a title="B. De Schutter" itemprop="url" href="/person/179b43995f394ecc9dbf6ddc0aa390ca5/author/3"><span itemprop="name">B. De Schutter</span></a></span></span>. </span><span class="additional-entrytype-information"><span itemtype="http://schema.org/PublicationIssue" itemscope="itemscope" itemprop="isPartOf"><em><span itemprop="journal">Automatica</span>, </em> <em><span itemtype="http://schema.org/PublicationVolume" itemscope="itemscope" itemprop="isPartOf"><span itemprop="volumeNumber">40 </span></span>(<span itemprop="issueNumber">7</span>): <span itemprop="pagination">1115-1127</span></em> </span>(<em><span>July 2004<meta content="July 2004" itemprop="datePublished"/></span></em>)</span>Tue Dec 07 20:40:52 CET 2021Automatica0771115-1127{R}obust output-feedback controller design via local {BMI} optimization402004robust multiobjective synthesis control imng feasibility h-infinity inequalities bilinear algorithms formulas linear-systems global h-2 matrix uncertainty output-feedback optimization design parameter peerReviewed lmis structured dynamic order 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.