Robust control of polytopic systems by convex optimization |
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Authors: | Alireza Karimi [Author Vitae]Author Vitae] |
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Affiliation: | Laboratoire d’Automatique, Ecole Polytechnique Fédérale de Lausanne (EPFL), 1015 Lausanne, Switzerland |
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Abstract: | Robust control synthesis of linear time-invariant SISO polytopic systems is investigated using the polynomial approach. A convex set of all stabilizing controllers for a polytopic system is given over an infinite-dimensional space. A finite-dimensional approximation of this set is obtained using the orthonormal basis functions and represented by a set of LMIs thanks to the KYP lemma. Then, an LMI based convex optimization problem for robust pole placement with sensitivity function shaping in two- and infinity-norm is proposed. The simulation results show the effectiveness of the proposed method. |
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Keywords: | Robust control Polytopic uncertainty Strictly positive real system Convex optimization |
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