Robust Control Design using Nonlinear Constrained Optimization

This paper presents a systematic for designing robust low-order controllers using nonlinear constrained optimization, This method is applied to the control of a two mass-spring system representing a generic model of an uncertain dynamical system with non-colocated sensor and actuator. A step-by-step design procedure is presented resulting in a final design, a second-order compensator, that satisfy all the requirements stated in the benchmark design problem #1.