A gradient-based approach for optimal plant controller co-design

This paper proposes a gradient-based iterative algorithm for optimal co-design of a linear physical plant and a controller. The proposed algorithm does not rely on the common linear parameterization assumption, and thus is applicable to a broader class of problems. The convergence of the algorithm and the verification procedure for a local minimum are given. Numerical examples show that our algorithm is comparable to other complicated algorithms in terms of the performance, but can deal with a more general class of problems.