Simultaneous automated design of structured QFT controller and prefilter using nonlinear programming

This paper describes a nonlinear programming-based robust design methodology for controllers and prefilters of a predefined structure for the linear time-invariant systems involved in the quantitative feedback theory. This controller and prefilter synthesis problem is formulated as a single optimization problem with a given performance optimization objective and constraints enforcing stability and various specifications usually enforced in the quantitative feedback theory. The focus is set on providing constraints expression that can be used in standard nonlinear programming solvers. The nonlinear solver then computes in a single-step controller and prefilter design parameters that satisfy the prescribed constraints and maximizes the performance optimization objective. The effectiveness of the proposed approach is demonstrated through a variety of difficult design cases like resonant plants, open-loop unstable plants, and plants with variation in the time delay. Copyright (c) 2016 John Wiley & Sons, Ltd.