LMIs in Control/Controller Synthesis/Continuous Time/Optimal Dynamic Output Feedback/H-2

Discrete-Time H2-Optimal Dynamic Output Feedback Control

A Dynamic Output feedback controller is designed for a Continuous Time system, to minimize the H2 norm of the closed loop system with exogenous input and performance output .

The System

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Continuous-Time LTI System with state space realization  

 

The Data

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The matrices: System  

Controller  

The Optimization Problem

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The following feasibility problem should be optimized:

  is minimized while obeying the LMI constraints.

The LMI:

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Solve for   and   that minimize   subject to  

 

The controller is recovered by

 

where,  
and the matrices   and   satisfy  . If   then   and  

Given   and  , the matrices   and   can be found using a matrix decomposition, such as a LU decomposition or a Cholesky decomposition.

If  ,   and  , then it is often simplest to choose   in order to satisfy the equality constraint

Conclusion:

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The Continuous-Time H2-Optimal Dynamic Output feedback controller is the system  

Implementation

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The LMI given above can be implemented and solved using a tool such as YALMIP, along with an LMI solver such as MOSEK.

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Discrete Time H2 Optimal Dynamic Output Feedback Control

Continuous Time H∞ Optimal Dynamic Output Feedback Control

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A list of references documenting and validating the LMI.

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