Synthesis of globally optimal robust controllers: the two perturbation blocks case

An algorithm is presented for finding the global minimum for the robustness synthesis problem when two perturbation blocks are present. The problem reduces to solving a parameterized family of linear programs. The global solution was obtained by finding an optimal basis for a certain value of the parameter and then by determining the intervals for which the corresponding optimal basis does not change. This procedure is repeated a finite number of times until the whole range of the parameter is covered