Robust output feedback controllers for MIMO systems, BMI and LMI approach

Abstract

The paper presents two methods of robust output feedback controller design for MIMO systems. First is based on solving bilinear matrix inequalities (BMI) and second uses linearisation to transform problem into linear matrix inequality (LMI). Both methods can be applied to continuous or discrete time systems. In order to test the applicability, a set of randomly generated unstable systems was created. Then the number of successfully solved systems and time required to solve the problem is compared. Although the LMI method is only heuristic experiments showed that it has better results and can be used with higher order systems.