FIXED-STRUCTURE ROBUST CONTROLLER SYNTHESIS VIA DECENTRALIZED STATIC OUTPUT FEEDBACK

This paper describes and illustrates a uniÞed methodology for robust, Þxed-structure controller synthesis. The approach is based upon direct Þxed-structure controller synthesis using a decentralized static output feedback formulation as a general framework for representing a large class of controller structures. Scaled Popov bounds for the real structured singular value are used to account for real parameter uncertainty and provide the means for optimizing a worst-case H 2 cost bound with respect to the free parameters of the controller. Quasi-Newton optimization algorithms are used to solve the resulting numerical optimization problem. Initial stability multiplier and scaling matrices needed in scaled Popov synthesis are obtained by solving an LMI feasibility problem. Using both centralized and decentralized controller structures, numer-ical results are obtained for a 16th-order acoustic duct model with uncertain damped natural frequencies and for a two-dimensional beam-spring model with uncertain actuator locations. ( 1998 John Wile