Farag, AdelAdelFaragWerner, HerbertHerbertWerner2023-02-242023-02-242006Proceedings of the American Control Conference 2006 : Minneapolis, Minnesota, June 14 -16, 2006. - Piscataway, NJ, 2006. - 1657400 4332-4337 (2006)http://hdl.handle.net/11420/14890This paper considers the design of robust controllers using the structured singular value μ. μ-synthesis is usually based on DK-iteration, which minimizes an upper bound on μ. A drawback is that controllers designed using D-K iteration are typically of high order, which makes this approach less attractive. This paper presents a novel technique of designing low-order and fixed-structure controllers that minimize an upper bound on the structured singular value μ, using a DK-iteration type of algorithm with an evolutionary search for controller and low-order scaling in the K-step. Two advantages of this approach are that (i) the controller order is independent of the order of the multiplier D(s), and (ii) that in contrast to standard DK-iteration where the multiplier D(s) is completely frozen within the K-step, the proposed algorithm allows D(s) to be free within the K-step. Two numerical examples show that this approach performs well compared with standard DK-iteration and is computationally efficient. © 2006 IEEE.enTechnikIngenieurwissenschaftenConference Paper10.1109/ACC.2006.1657400Other