Constrained Reduced Order H∞ Synthesis with Optimal Filter Tuning Using Particle Swarm Optimization
Résumé
Efficient dedicated methods have been developed for H∞ controller synthesis. However, such methods require translating the design objectives using weighting filters, whose tuning is not easy; in addition they lead to high order controllers which have to be reduced. In this paper, a particle swarm optimization method is used to solve both problems successively: after having optimized the filters according to the design specifications using a full order controller but no reformulation of the constraints, a reduced-order one is computed using the obtained filters. Experimental tests for a pendulum in the cart exhibit much than satisfactory results.