Nonsmooth Structured Control Design
pierre apkarian, vincent bompart, dominikus noll
Feedback controllers with specific structure arise frequently in
applications because they are easily apprehended by design engineers
and facilitate on-board implementations and re-tuning. This work is
dedicated to $\Hinf$-synthesis with structured controllers. In this
context, straightforward application of traditional synthesis
techniques fails, which explains why only a few ad-hoc methods have
been developed over the years. In response, we propose a systematic
way to design $\Hinf$-optimal controllers with fixed structure using
local optimization techniques. We apply non-smooth optimization
techniques to compute locally optimal solutions. See the paper full
version for more details and applications discussed
at length.