Suboptimal robust synthesis for MIMO plant under coprime factor perturbations

Suboptimal robust synthesis for MIMO nominal system under coprime factor perturbations is considered in classical and non-classical statements. In the classical statement, weights of perturbations and upper bound on magnitude bounded exogenous disturbance are assumed to be known to controller designer. Suboptimal synthesis within εε tolerance is reduced to the solution of log2(1/ε)log2(1/ε) standard mixed sensitivity problems of ℓ1ℓ1 optimization. In the non-classical statement, the upper bounds on perturbations and exogenous disturbance are to be estimated from measurement data and suboptimal synthesis is reduced to the solution of 1/ε1/ε mixed sensitivity problems.