Plant Controller Design by Convex Optimization
Dr. Carsten W. Scherer
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 parameters enter the closed loop in a
specific fashion. Motivating examples with clarify the range of applicability of
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-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 amenableto design of robust output feedback
controller without involving any conservatism.
Carsten Scherer received the diploma degree and Ph.D. degree in mathematics
from the University of Würzburg(Germany)in 1987, Dr. Scherer spent six
months as a visiting scientist at the Mathematics Institute of the University of
Gronongen(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 Zürich.