Robust controller interpolation via convex optimization

Arbitrarily fast switching or blending among controllers often leads to reduced performance and possible instability. This paper introduces a controller interpolation framework for optimizing the dynamic transition among controllers with respect to the H_infin norm. Based on the framework, necessary and sufficient conditions are developed in terms of linear matrix inequalities (LMIs). In addition, the framework is also amenable to optimizing the controller interpolation for other control design objectives expressible via LMIs.