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An iterative algorithm for maximizing robust performance in H ∞ loop‐shaping design
Author(s) -
Osinuga M.,
Patra S.,
Lanzon A.
Publication year - 2012
Publication title -
international journal of robust and nonlinear control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.361
H-Index - 106
eISSN - 1099-1239
pISSN - 1049-8923
DOI - 10.1002/rnc.2809
Subject(s) - phase margin , control theory (sociology) , robust control , stability (learning theory) , margin (machine learning) , loop (graph theory) , controller (irrigation) , crossover , robustness (evolution) , computer science , mathematical optimization , control system , mathematics , control (management) , engineering , artificial intelligence , computer network , amplifier , agronomy , biochemistry , chemistry , operational amplifier , bandwidth (computing) , combinatorics , machine learning , gene , electrical engineering , biology
SUMMARY In this paper, an algorithm that gives the best achievable performance bound on a given control problem is proposed using the H ∞ loop‐shaping design framework. In view of standard design requirements, the robust performance is maximized at low and high frequencies while keeping the robust stability margin above a specified level, and the robust stability margin is directly improved at mid frequencies (around crossover). The proposed frequency‐dependent optimization problem is cast in an LMI framework. The resulting solution algorithm simultaneously synthesizes loop‐shaping weights and a stabilizing controller that achieve the maximum performance for a given level of robust stability margin corresponding to sufficient gain and phase margins of the closed‐loop system. Copyright © 2012 John Wiley & Sons, Ltd.
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