A Frequency Domain Algorithm for the Simultaneous Optimisation
of Performance Weights and Controllers in mu-Synthesis
Alexander Lanzon (Cambridge University Engineering Department)
A novel iterative procedure will be proposed in this talk as a valuable
alternative/complement to D-K iterations frequently used in
mu-synthesis. This procedure gives both a robustly
stabilising controller and performance weights which together
achieve a closed-loop mu-value which is slightly less than unity,
thereby immediately guaranteeing robust performance. The performance
weights given by this algorithm maximise the achieved performance
for the particular plant set considered according to some sensible cost
function. The designer is only required to specify the desired
directionality of the optimisation according to his engineering
insight. Of course, a sensible plant set and a sensible
directionality for the optimisation are still required for a
sensible control problem. The algorithm proposed here thus
eliminates the trial and error process usually adopted by designers
in selecting such performance weights.
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