A new design method for robust H2 controllers using Popov multipliers

This paper presents a new method for designing full order, dynamic LTI controllers that provide guaranteed levels of H₂ performance for systems with static, real, parametric uncertainties. The controllers are designed using a D-K iteration, i.e., by iterating between solutions of controller synthesis problem and a performance analysis problem. The controllers are synthesized by solving a set of coupled Riccati equations using a recently proposed iterative technique. Performance analysis is studied using a gradient optimization technique. In order to increase the utility of the method, the analysis and synthesis routines intentionally avoid the use of convex optimization routines, such as LMI solution codes. The design methodology is demonstrated on a realistic structural control problem, a model of the Middeck Active Control Experiment (MACE)