μ/km-design with time-domain constraints

Standard μ/k_m-synthesis approaches cannot handle specifications on closed-loop time responses in a direct manner. On the other hand, constrained H_∞ optimization handles explicitly time-domain specifications in an H_∞-optimal control setting but is conservative with respect to structured model uncertainty. In this paper, the authors propose a constrained μ/k_m-synthesis approach to design robust controllers for uncertain systems with time-domain constraints and structured real/complex model uncertainties. They derive an algorithm based on an iteration process involving a search for multipliers and the solution of scaled constrained H_∞-optimization problems