Structured controller synthesis with restricted frequency domain specifications

In this paper, the problem of structured controller synthesis with finite frequency specifications is considered. A state feedback controller under a structural constraint is designed by a two-stage method. The first stage is to design a centralized controller, and the second stage is to explore a structured controller from the centralized controller. The observer-based output feedback case is coped with in the same framework. Iteration algorithms to explore structured controllers with design specifications are constructed respectively. Finally, the effectiveness of the proposed methods is illustrated via the classical ACC benchmark problem of cart-spring system.