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         "id"   : "https://puma.ub.uni-stuttgart.de/bibtex/250eb44f91950357cf988eb9394027e14/carsten.scherer",         
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         "label" : "Robust output-feedback controller design via local BMI optimization",
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         "year": "2004", 
         "url": "https://doi.org/10.1016/j.automatica.2004.01.028", 
         
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            	{"first" : "C. W.",	"last" : "Scherer"},
            	{"first" : "M.",	"last" : "Verhaegen"},
            	{"first" : "B.",	"last" : "De Schutter"}
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         "volume": "40","number": "7","pages": "1115-1127","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.",
         "shorttitle" : "Robust output-feedback controller design via local BMI optimization",
         
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            	{"first" : "S.",	"last" : "Zeng"},
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         "year": "2019", 
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         "author": [ 
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            	{"first" : "K.",	"last" : "Kuritz"},
            	{"first" : "S.",	"last" : "Zeng"},
            	{"first" : "F.",	"last" : "Allgöwer"}
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         "issn" : "2475-1456",
         
         "doi" : "10.1109/LCSYS.2018.2870967",
         
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