Robust controller design for the active mass driver benchmark problem

We develop a robust controller design for the active mass driver (AMD) benchmark problem. The design process is based around the D-K iteration procedure for (complex) μ synthesis, together with a balanced truncation procedure to reduce the controller order. The final design is a third order linear controller, which utilizes only four accelerometer measurements, and has desirable rolloff properties (i.e., small required bandwidth, and a high degree of robustness). Despite the simplicity of the controller, it is able to deliver good performance, while using only modest control authority