Robust control of constrained systems via convex optimization

A successful controller design paradigm must take into account both model uncertainty and design specifications. In this paper we propose a design procedure, based upon the use of convex optimisation, that takes explicitly into account both time and frequency domain specifications. The main result of the paper shows that these controllers can be obtained by solving a sequence of problems, each one consisting of a finite-dimensional convex optimization and a standard, unconstrained ℋ_∞ problem. Additionally, the paper serves as a brief tutorial on the issues involved in addressing design problems with multiple design specifications via convex optimization