Parametric robust H2 control design using LMI synthesis

This paper presents a new, iterative algorithm for designing full order LTI controllers for systems with real parameter uncertainty. Robust stability is determined for these systems using the Popov analysis criterion and multiplier, and robust performance is investigated using a bound on the output energy. Control design to minimize the robust performance metric naturally leads to Bilinear Matrix Inequalities, which can be decoupled to a large extent. However, coupling remains in the problem since we simultaneously optimize the parameters of both the Popov stability multiplier and the compensator. We present a heuristic, iterative algorithm to solve this design problem, and demonstrate that it works effectively on two numerical examples. In the process, we illustrate that the key advantages of this control design approach are the high reliability of the numerical techniques and the relative simplicity of implementing the algorithm.