km-design with time domain constraints

Standard k_m-synthesis approach cannot handle specifications on the time response of the closed-loop system exactly. A new approach to design robust controllers for uncertain systems with time domain constraints using a multiplier technique is given. More specifically, it is required to find a controller such that a closed-loop system be stable in face of structural real/complex uncertainties, and the time responses {zⁱ} to the given input signals {wⁱ} belong to specified sets {Ωⁱ}. Our algorithm is based on an iteration process involving a search for a suitable multiplier and solving a scaled constrained H_∞ optimization problem. The computational efficiency of the algorithm is due to the usage of the discrete dynamic scalings obtained without bilinear transformation and curve fitting, and exact satisfaction of the time-domain constraints