Iterative Feedback Tuning for robust controller design and optimization

This paper introduces a new approach for robust controller design using Iterative Feedback Tuning (IFT) method. Based on some robustness principles a new criterion is proposed reflecting both performance and robustness specifications. Then, some analysis of the new criterion is made and we show how to apply the standard IFT procedure using the new criterion. The approach is transparently illustrated on one model-based controller design example.