Structured MIMO H? design for feedback linearized CSTR based on non-smooth optimization

The paper reports on application of two available numerical solvers-HIFOO and HINFSTRUCT for structured and fixed-order controller design, to a feedback linearized Continuous Stirred tank Reactor (CSTR). These solvers constitute a most practical exploitation of the research in numerical techniques for non-convex non-smooth optimization and results in design of controllers that are easy to implement and fine-tune within a standard infrastructure based on PID. Simulation results are shown to compare these two powerful and useful computational tools.