Integrated ℋ∞ plant/controller design via linear matrix inequalities

This paper studies an integrated plant and controller design problem for linear systems that are subject to unstructured uncertainty. The induced L₂ norm of the closed-loop system is optimized with respect to both plant and controller design parameters. A two-step iterative computational scheme that consists of iterative controller design and plant/controller redesign is proposed to address this integrated design problem. The algorithm has guaranteed convergence and it provides a sequence of designs with monotonically decreasing performance costs