Robust controller synthesis with consideration of performance criteria

This paper presents interactive controller synthesis methods based on an inward approach and offers some advantages over the traditional loop gain shaping methods. The indirect use of weighting functions for the robustness controller tuning is introduced. Besides that, the method allows transparent closed-loop pole placement to achieve desirable transient performance. The obtained controllers are of lower order for comparable performance than those synthesized with rmH2, H∞ or μsynthesis. The method is particularly well suited for robust control problems where frequency domain constraints emerge from the analyses of non?parametric uncertainties and also for control problems where the frequency domain loop shaping is used to achieve time domain performance specifications.