An efficient representation for linear constraints

An efficient representation for the linear constraints generated by a recent CACSD (computer-aided control system design) method has been developed. The linear constraints arise from engineering constraints on the time- and frequency-domain responses of the closed-loop system. The representation reduces the storage requirements and improves the efficiency of the quadratic programming algorithm used by the design method. The algorithm performs two distinct operations on the individual constraints. The first determines if a constraint has been satisfied and the second is the computation of the distance in a specified search direction