M<scp>ATLAB</scp>based GUIs for linear controller design via convex optimization

Abstract

Abstract Owing to the current evolution of computational tools, a complicated parameter optimization problem could be effectively solved by a computer. In this paper, a CAD tool for multi‐objective controller design based on M ATLAB program is developed. In addition, we construct simple GUIs (using GUIDE tools within M ATLAB ) to provide a visual approach in specifying the constraints. The linear controller design problem can be cast as the convex optimization subjected to time domain and frequency domain constraints. This optimization problem is efficiently solved within a finite dimensional subspace by a practical ellipsoid algorithm. In the design process, we include a model reduction of the resulting controller to speed up the computational efficiency. Finally, a numerical example shows the capability of the program to design multi‐objective controller for a one‐link flexible robot arm. © 2003 Wiley Periodicals, Inc. Comput Appl Eng Educ 11: 13–24, 2003; Published online in Wiley InterScience (www.interscience.wiley.com); DOI 10.1002/cae.10035