Combined pole placement/sensitivity function shaping method using convex optimization criteria

This paper deals with the design of robust digital controllers by the combined pole placement / sensitivity function shaping method. It shows that the design problem can be formulated and solved as a convex optimization problem. Specifications like dominant closed-loop poles or integration controller action may be introduced just as well as other fixed parts for the controller. Experimental results obtained in controller design for a very flexible 360° arm are presented.