Efficient convex design of robust feedforward controllers

A practical method is proposed for the convex design of robust feedforward controllers, which ensure H∞/L2performance in the face of LTI and arbitrarily time-varying model uncertainties. A technique which computes the global minimum of this difficult infinite dimensional optimization problem is proposed, as well as a suboptimal but computationally less involving algorithm. A missile example illustrates the efficiency of the scheme: a robust feedforward controller is designed, either on the continuum of linearised time invariant models (corresponding to trim points), or on a quasi-LPV model representing the non-linear one.