Iterative H<inf>2</inf>-conic controller synthesis

This paper proposes a method to synthesize controllers that minimize an upper bound on the closed-loop H2-norm while imposing desired controller conic bounds. An initial conic controller is synthesized and iteratively improved. Conic sectors can be used to characterize a variety of input-output properties, such as gain, phase, and minimum gain. If such plant properties hold robustly to uncertainty present, then closed-loop stability can be ensured robustly via the Conic Sector Theorem by imposing desired controller conic bounds. Consequently, this paper provides a versatile optimal and robust controller synthesis method. Moreover, it relies only on the solution of convex optimization problems subject to linear matrix inequality constraints, making it readily implementable.