A state-space algorithm for the simultaneous optimisation of performance weights and controllers in μ-synthesis

A conceptually new approach to the μ-synthesis robust performance problem is proposed. Performance weights, maximised with respect to a suitable cost function that captures the desired closed-loop performance, are synthesised simultaneously with an internally stabilising controller to immediately achieve 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