Robust controller synthesis via nonlinear matrix inequalities

This paper uses the linear matrix inequality (LMI) approach to mixed structured singular value analysis to develop an approach for robust controller synthesis that is based on the stable factors of the multipliers and does not require the multipliers to be restricted to a basis. It is shown that this approach requires the solution of nonlinear matrix inequalities (NMIs). A continuation algorithm is presented for the solution of NMIs. The primary computational burden of the continuation algorithm is the solution of a series of LMIs