A MATLAB TOOLBOX FOR FIXED-ORDER, MIXED-NORM CONTROL SYNTHESIS

This article introduces a MATLAB(R) toolbox for fixed order, mixed-nor m control synthesis. The Mixed-Norm Toolbox contains a complete set of routines for both continuous and discrete-time systems. The problem a ddressed by the toolbox is that of finding a compensator which minimiz es the H-2 norm of a transfer function, while constraining any combina tion of H infinity and/or l(1)(L(1)) norms of possibly dissimilar tran sfer functions to be below specified levels. Within reason, any number or combination of constraints can be added to the problem, and the me thod constrains the norms directly without reliance on upper bounds. T he primary contribution of the Mixed-Norm Toolbox is a modular collect ion of norm and gradient algorithms which can be used with almost any nonlinear, constrained optimization solver. While global convergence i s not guaranteed for the resulting non-convex problem, the toolbox has been successfully used to show portions of Pareto optimal curves and surfaces for a wide variety of problems. The Mixed-Norm Toolbox is bei ng made available free of charge to the controls community.