Walden Marshall | Searcharxiv

arXiv2025

Factored Output Feedback Controller Synthesis with Locality Constraints for Spatially-Invariant Systems

We consider H2 output feedback controller synthesis with pre-specified constraints on spatial communication distance (locality) for spatially-invariant systems using two factored controller frameworks: the system-level parameterization and the input-output parameterization. In our main result, we show that in both frameworks, output feedback controller synthesis with locality constraints can be formulated as a convex problem in finitely many transfer function variables, admitting the use of standard numerical solution techniques. The number of decision variables in the optimal controller design problem scales linearly with the distance of allowed communication. We also show that the optimal controller design problems for the system-level and input-ouptput parameterizations are equivalent for the chosen system of interest. We present numerical examples to illustrate the tradeoff between communication sparsity and performance.

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arXiv2024

A Convex Parameterization of Controllers Constrained to use only Relative Measurements

The optimal controller design problem for systems equipped with sensors that measure only relative, rather than absolute, quantities is considered. This relative measurement structure is formulated as a design constraint; it is demonstrated that the resulting constrained controller design problem can be written as a convex program. Certain additional network structural constraints can be incorporated into this formulation, making it especially useful in distributed or networked settings. An illustrative example highlights the advantage of the proposed methodology over the standard formulation of the output feedback controller design problem. A numerical example is provided.

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