An algorithm for simultaneous stabilization using decentralized constant gain output feedback

An algorithm which solves, numerically, the simultaneous stabilization problem using a constant gain decentralized control law is presented. The algorithm is determined from the necessary conditions for minimizing an optimal control problem. The optimal control problem consists of n plant models each with its own cost function. The costs are summed to create an average cost function and equality constraints are added to yield the decentralized control structure. The algorithm can start with any stabilizing full state feedback gain for each model and will converge to the optimal constant feedback gain for all models assuming a solution exists. Examples of the algorithm are given for Kharitonov synthesis and optimal gain scheduled control law synthesis using output feedback