Structured IQC synthesis of robust H2 controllers in the frequency domain

The problem of robust controller synthesis for plants affected by structured uncertainty, captured by integral quadratic constraints, is discussed. The solution is optimized towards a worst-case white noise rejection specification, which is a generalization of the standard H2-norm to the robust setting including possibly non-LTI uncertainty. Arbitrary structural constraints can be imposed on the control solution, making this method suitable for distributed systems. The nonsmooth optimization algorithm used to solve the robust synthesis problem operates directly in the frequency domain, eliminating scalability issues for complex systems and providing local optimality certificates. The method is evaluated using a literature example and a real-world system using a novel implementation of a robust H2-performance bound.

Subjects

Complex systems

Controller constraints and structure

Distributed robust controller synthesis

H2-performance

IQCs

Numerical methods for optimal control

DDC Class

004: Computer Sciences

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publishedVersion

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https://creativecommons.org/licenses/by-nc-nd/4.0/

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1-s2.0-S240589632301457X-main.pdf

Type

Main Article

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629.12 KB

Format

Adobe PDF

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Structured IQC synthesis of robust H2 controllers in the frequency domain