Using Particle Swarm Optimization for Reduced Order H∞ Synthesis

Efficient dedicated methods have been developed for H∞. controller synthesis. However, such methods compute a full order controller which has often to be reduced to be implemented. Solving the reduced order H∞ problem is a hard task, as the corresponding optimization problem is non convex, due to rank constraints. In this paper, a particle swarm optimization method is used to solve such a problem. Experimental tests have been performed for a pendulum in the cart, showing much than satisfactory results. The computed controller is compared with a classical Hankel reduction of the full order H∞ controller, exhibiting a lower H∞ norm and a more robust behavior against measurement noise.