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arXiv · 2110.03747

Fixed-Order H2-Conic Control

Ethan J. LoCicero·Leila Bridgeman
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Abstract

H2-conic controller design seeks to minimize the closed-loop H2-norm for a nominal linear system while satisfying the Conic Sector Theorem for nonlinear stability. This problem has only been posed with limited design freedom, as opposed to fixed-order design where all controller parameters except the number of state estimates are free variables. Here, the fixed-order H2-conic design problem is reformulated as a convergent series of convex approximations using iterative convex overbounding. A synthesis algorithm and various initializations are proposed. The synthesis is applied to a passivity-violated system with uncertain parameters and compared to benchmark controller designs.

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Ethan J. LoCicero, Leila Bridgeman. 2021-10-07. Fixed-Order H2-Conic Control. https://arxiv.org/abs/2110.03747

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