Decentralized and fixed-structure H∞ control in MATLAB

This paper presents two new MATLAB-based tools for tuning linear control systems in the frequency domain: HINFSTRUCT and LOOPTUNE. These tools can directly tune control architectures with multiple feedback loops and multiple fixed-order, fixed-structure control elements. The controller parameters are tuned using non-smooth H
_∞
optimization but little a-priori knowledge of H
_∞
theory is required to use the tools. This makes them ideally suited for real-world applications where the control system structure and complexity are constrained.