Robust control synthesis using generalized Kharitonov´s theorem

The authors consider the generalized Kharitonov´s theorem for matrix polynomials and provide a Kharitonov synthesis for a class of MIMO (multiple input, multiple output) systems. It is shown that it is sufficient to simultaneously stabilize four plants, analogous to the scalar case, by a constant output feedback gain. The proposed solution is a fixed-structure optimization-based technique which involves multiple models with a quadratic performance functional. This allows one to develop reasonably general conditions for robust static output feedback synthesis