Multi-objective robust controller synthesis with integral quadratic constraints in discrete-time

Code

• github.com/Schwenkel/multi-objective-iqc-synthesis
  Officialnone★ 3
• github.com/schwenkel/mpc-iqc
  none★ 3

Abstract

This article presents a novel framework for the robust controller synthesis problem in discrete-time systems using dynamic Integral Quadratic Constraints (IQCs). We present an algorithm to minimize closed-loop performance measures such as the H_-norm, the energy-to-peak gain, the peak-to-peak gain, or a multi-objective mix thereof. While IQCs provide a powerful tool for modeling structured uncertainties and nonlinearities, existing synthesis methods are limited to the H_-norm, continuous-time systems, or special system structures. By minimizing the energy-to-peak and peak-to-peak gain, the proposed synthesis can be utilized to bound the peak of the output, which is crucial in many applications requiring robust constraint satisfaction, input-to-state stability, reachability analysis, or other pointwise-in-time bounds. Numerical examples demonstrate the robustness and performance of the controllers synthesized with the proposed algorithm.

Reproductions