Simultaneous optimization of performance weights and a controller in mixed-μμ synthesis

In this paper, we investigate the problem of synthesizing performance weights and a controller that maximize the level of robust performance for a plant subject to both complex and real uncertainties. In particular, in this work the formulation proposed in Lanzon (2005a) and Lanzon and Cantoni (2003) is manipulated in order to include the possibility to handle both real and complex uncertainties. Additionally, we introduce a novel solution algorithm that presents performance and computational advantages with respect to those described in Lanzon (2005a) and Lanzon and Cantoni (2003).