Submitted to the 39th IEEE Conference on Decision and Control, 2000.


A State-Space Algorithm for the Simultaneous Optimisation of Performance Weights and Controllers in mu-Synthesis

Alexander Lanzon and Michael Cantoni

Abstract
A conceptually new approach to the mu-synthesis robust performance problem is proposed in this paper. Performance weights, optimised with respect to a suitable cost function which captures our desired performance, are synthesised simultaneously with an internally stabilising controller guaranteeing robust performance. The designer is only required to specify the plant set and an optimisation directionality. This directionality only appears in the cost function and reflects the desired closed-loop properties in particular frequency regions. Correspondingly, this approach greatly simplifies the often long and tedious process of designing ``good'' performance weights directly.