A design procedure for robust H2 control using a multiplier approach

This paper presents a method for the design and tuning of robust H2 output feedback controllers for uncertain plants, based on Finsler´s Lemma. The conservatism of design is considerably reduced by a proposed iterative scaling procedure, referred to as K-Θ iteration. The proposed method can deal with nonsquare uncertainty models, and it is shown that an approach proposed previously based on the S-procedure is a special case of this technique. Application to the ACC benchmark problem shows that the proposed technique outperforms previously published solutions.