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Robust Structured Control Design via LMI Optimization

Abstract This paper presents a new procedure for discrete-time robust structured control design. Parameter-dependent nonconvex conditions for stabilizable and induced L 2 -norm performance controllers are solved by an iterative linear matrix inequalities (LMI) optimization. A wide class of controller structures including decentralized of any order, fixed-order dynamic output feedback, static output feedback can be designed robust to polytopic uncertainties. Stability is proven by a parameter-dependent Lyapunov function. Numerical examples on robust stability margins shows that the proposed procedure can obtain less conservative results than traditional stability criteria.