A Generalized H-infinity Mixed Sensitivity Convex Approach to Multivariable Control Design Subject to Simultaneous Output and Input Loop-Breaking Specifications. Computes a H-infinity based Feedback Controller based on multiobjective constrained convex optimization. Refer to author's PhD dissertation for details.
% Outline of steps for GMS problem setup:
% - Form the design plant:
% - Define the original plant
% - Integrator augmentation if needed
% - Bilinear transformation values if needed
% % - Select weighting functions:
% - Tradeoff param rho
% - W for obj
% - W for constraint
% % - Select optimization params:
% - LB and UB
% - Init point
% - Maximum number of iterations
% % - Select Youla/Zames parametrization:
% - Select Youla or Zames
% - Initial controller
% % - Finite Dimensionality
% - Basis params
% % - Objective function:
% - sum/max/stacking
% % - Find initial controller (Ko, F, L)
% % - Youla parameterization
% % - Find Initial Q parameter using initial controller (Ko, F, L)
% % - Extract required data from problem setup
% % - Vectorize the optimization problem
% % - Optimization process
% - define how subgradient is picked based on sum/max/stacking
% % - form Q using the optimized variables and bases
% % - form Controller K using the obtained Q
% % - Inverse bilinear transformation if needed % % - Inverse of integrator augmentation if needed
% % - Compute OL and CL maps