OPTIMAL REDESIGN OF LINEAR-SYSTEMS

This paper proposes a redesign procedure for linear systems. We suppos e that an initial satisfactory controller which yields the desired per formance is given. Then both the plant and the controller are redesign ed to minimize the required active control effort. Either the closed-l oop system matrix or the closed-loop covariance matrix of the initial design can be preserved under she redesign. Convex quadratic programmi ng solves this problem. In addition, an iterative approach for integra ted plant and controller design is proposed which uses the above optim al plant/controller redesign in each iterative step. The algorithm has guaranteed convergence and provides a sequence of designs with monoto nically decreasing active control effort. Examples are included to ill ustrate the procedure.