Structured robust controller design via non-smooth mixed μ synthesis

摘要

A new μ synthesis technique is presented that allows the design of controllers satisfying prescribed structural constraints as well as robust against mixed uncertainties. Such features are rarely jointly present in existing methods. The proposed approach relies on a numerically efficient non-smooth optimisation algorithm to obtain locally optimal solutions. The validity of the new synthesis technique is corroborated by a challenging case study in which the objective is to design a structured controller for the uncertain flexible model of a rocket in upper atmosphere flight.