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Plant controller design by convex optimization

In addition to the task of designing a dynamic controller in a typical control application, it often happens that certain plant parameters can be adjusted to favorably influence the behavior of the controlled system. The problem of specifying both a dynamic controller and real-valued parameters of the plant in order to optimize a chosen performance criterion is called the plant controller design problem. The topic of this talk is a novel plant controller design technique based on convex optimization if the controller and the parameters enter the closed loop in a specific fashion. Motivating examples will clarify the range of applicability of these algorithms. As a specific model problem that is interesting in its own right, we discuss the design of controllers that are robust against uncertain stochastic disturbances, what considerably generalizes both H2 and H-H=H-infinity control. We reveal how infinite dimensional Lagrange duality can be exploited to transform the corresponding robust analysis problem into a parametric optimization problem. This renders our algorithms amenable to the design of robust output feedback controllers without involving any conservatism.
Type of Seminar:
Public Seminar
Dr. Carsten W. Scherer
Mechanical Engineering Systems and Control Group Delft University of Technology, Mekelweg 2, 2628 CD Delft, NL
Nov 24, 1999   17:15

ETH Zentrum, ETZ E6 - Gloriastrasse 6, 8006 Zurich
Contact Person:

Prof.M. Morari
No downloadable files available.
Biographical Sketch:
Carsten Scherer received the diploma degree and the Ph.D. degree in mathematics from the University of Würzburg (Germany) in 1987 and 1991 respectively. In 1989, Dr. Scherer spent six months as a visiting scientist at the Mathematics Institute of the University of Groningen (The Netherlands). In 1992, he was awarded a grant from the Deutsche Forschungsgemeinschaft (DFG) for six months of post doctoral research at the University of Michigan (Ann Arbor) and at Washington University (St. Louis) respectively. In 1993 he joined the Mechanical Engineering Systems and Control Group at Delft University of Technology (The Netherlands) where he currently holds a position as an associate professor (universitair hoofddocent). His main research interests cover various topics in applying optimization techniques for developing new advanced controller design algorithms and their application to mechatronics and aerospace systems. Currently, Dr. Scherer is spending a three months sabbatical at the Automatic Control Laboratory at ETH Zurich.