Robust data‐driven fixed‐order controller synthesis: Model matching approach

Abstract

In this paper, a new data-driven fixed-order H ∞ controller design method based on convex optimisation is proposed for linear single input single output systems. The proposed non-parametric frequency domain data based approach renders the need for a mathematical model of the controlled plant unnecessary. First, a semi-definite convex optimisation algorithm is proposed to simultaneously compute a minimal uncertainty model and an optimal nominal model from the experimental data. Then the H ∞ robust performance condition, control input constraints and the closed-loop model matching objective are described by convex functions with respect to the parameters of the controller. The usefulness and efficiency of the proposed approach are verified experimentally with application to the control of a thrust vector control system.