Robust Characteristic Polynomial Assignment

In this paper a computational method for designing controllers which attempt to place the characteristic polynomial of an uncertain system inside some prescribed region is presented. An objective function consisting on two terms is proposed, penalizing both the distance to a given controller and the size of the uncertainty region developed to solve the robust assignment problem. The algorithm is based on semi-infinite programming theory, and the special structure of the problem is exploited to get both simpler methods and convergence proof. The way in which the uncertain parameters affect the plant coefficients is realistic, since it includes multinomial dependence. An example of application is given to illustrate the approach.