Simultaneous controller design: a linear matrix inequalities approach

Designing a single controller for several linear time-invariant plants is a challenging and interesting question in robust control theory which has been attacked from different angles. A powerful class of techniques are based on linear matrix inequalities (LMI) and convex optimization methods. In this paper, the authors extend their earlier LMI-based algorithm to the discrete-time case and use the flexibility of LMI solvers to incorporate various criteria on the closed loop performance