Fixed-order H-infinity Controller Design for Nonparametric Models by Convex Optimization

A new approach for robust fixed-order H-infinity controller design by convex optimization is proposed. Linear time-invariant single-input single-output systems represented by nonparametric models in the frequency domain are considered. It is shown that the H-infinity robust performance condition can be represented by a set of linear or convex constraints with respect to the parameters of a linearly parameterized controller in the Nyquist diagram. Multimodel and frequency-domain uncertainty can be considered straightforwardly in the proposed approach. The proposed method is compared with the standard H-infinity control problem. Moreover, a solution to an international benchmark problem is given that meets all specifications with the lowest order controller.