{"50eb44f91950357cf988eb9394027e14carsten.scherer":{"DOI":"","ISBN":"","ISSN":"0005-1098","URL":"https://doi.org/10.1016/j.automatica.2004.01.028","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.","annote":"","author":[{"family":"Kanev","given":"S."},{"family":"Scherer","given":"C. W."},{"family":"Verhaegen","given":"M."},{"family":"De Schutter","given":"B."}],"citation-label":"KanSch04a","collection-editor":[],"collection-title":"","container-author":[],"container-title":"Automatica","documents":[],"edition":"","editor":[],"event-date":{"date-parts":[["2004","jul"]],"literal":"2004"},"event-place":"","id":"50eb44f91950357cf988eb9394027e14carsten.scherer","interhash":"79b43995f394ecc9dbf6ddc0aa390ca5","intrahash":"50eb44f91950357cf988eb9394027e14","issue":"7","issued":{"date-parts":[["2004","jul"]],"literal":"2004"},"keyword":"algorithms bilinear control design dynamic feasibility formulas global h-2 h-infinity imng inequalities linear-systems lmis matrix multiobjective optimization order output-feedback parameter peerReviewed robust structured synthesis uncertainty","misc":{"shorttitle":"Robust output-feedback controller design via local BMI optimization","file":"<Go to ISI>://000221904200002","issn":"0005-1098","endnotereftype":"Journal Article"},"note":"","number":"7","number-of-pages":"12","page":"1115-1127","page-first":"1115","publisher":"","publisher-place":"","status":"","title":"Robust output-feedback controller design via local BMI optimization","type":"article-journal","username":"carsten.scherer","version":"","volume":"40"},"50eb44f91950357cf988eb9394027e14mathematik":{"DOI":"","ISBN":"","ISSN":"0005-1098","URL":"https://doi.org/10.1016/j.automatica.2004.01.028","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.","annote":"","author":[{"family":"Kanev","given":"S."},{"family":"Scherer","given":"C. W."},{"family":"Verhaegen","given":"M."},{"family":"De Schutter","given":"B."}],"citation-label":"KanSch04a","collection-editor":[],"collection-title":"","container-author":[],"container-title":"Automatica","documents":[],"edition":"","editor":[],"event-date":{"date-parts":[["2004","jul"]],"literal":"2004"},"event-place":"","id":"50eb44f91950357cf988eb9394027e14mathematik","interhash":"79b43995f394ecc9dbf6ddc0aa390ca5","intrahash":"50eb44f91950357cf988eb9394027e14","issue":"7","issued":{"date-parts":[["2004","jul"]],"literal":"2004"},"keyword":"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","misc":{"shorttitle":"Robust output-feedback controller design via local BMI optimization","file":"<Go to ISI>://000221904200002","issn":"0005-1098","endnotereftype":"Journal Article"},"note":"","number":"7","number-of-pages":"12","page":"1115-1127","page-first":"1115","publisher":"","publisher-place":"","status":"","title":"Robust output-feedback controller design via local BMI optimization","type":"article-journal","username":"mathematik","version":"","volume":"40"}}