Design of Robust Optimal Control Systems and Stability Analysis of Real Structured Uncertainties
Final rept. Aug 1990-Mar 1994
DREXEL UNIV PHILADELPHIA PA
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This report addresses the computational problems arising in the design of robust controllers via H-inf optimization and mu-synthesis and proposes several new controller reduction approaches. Through our discovery of the convexity and monotonicity properties of the general parameter dependent H- inf Riccati equation, a quadratically convergent algorithm which is faster than the other existing search schemes is developed to compute the optimal H-inf norm. It is desired to preserve the closed-loop stability and performance while reducing the order of the controller. A structured truncation technique based on the closed-loop controllability and observability diagrams, an H-inf controller parameterization and reduction method, and an observer-based controller parameterization and reduction procedure are employed to achieve this objective.
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