A Data-Driven Fixed-Structure Control Design Method with Application to a 2-DOF Gyroscope

This paper presents the practical aspects and application of a novel data-driven, fixed-structure, robust control design method. Only the frequency response data of the system is needed for the design, and no parametric model is required. The method can be used to design fully parametrized continuous- or discrete-time matrix transfer function controllers. The control performance is specified as constraints on the $H_{\infty}$ or $H_2$ norm of weighted sensitivity functions, and a convex formulation of the robust design problem is proposed. An application of the presented method is explored on an experimental setup, where a multivariable controller for a gyroscope is designed based only on the measured frequency response of the system.