Frequency-domain optimization of fixed-structure controllers

E. van Solingen, J. W. van Wingerden*, T. Oomen

*Corresponding author for this work

Research output: Contribution to journalArticleScientificpeer-review

13 Citations (Scopus)
45 Downloads (Pure)


This paper aims to introduce a new approach to optimize the tunable controller parameters of linear parameterizable controllers. The presented approach is frequency-domain based and can therefore directly be used to tune, among others, proportional integral derivative controllers, low/high-pass filters, and notch filters, using a Frequency Response Function of the plant. The approach taken in this paper is to extract the tunable controller parameters into a diagonal matrix gain and absorb the remainder of the controller in the plant. Then, the generalized Nyquist stability criterion is exploited so as to impose stability and H∞ performance specifications on the closed-loop system. It is shown that the approach results in a convex feasibility problem for certain controller cases and can be reformulated such that it can also be used for grey-box system identification. Simulation and experimental examples demonstrate the efficacy of the approach.

Original languageEnglish
Pages (from-to)3784-3805
JournalInternational Journal of Robust and Nonlinear Control
Volume28 (2018)
Issue number12
Publication statusPublished - 2016


  • Decentralized control
  • Fixed-structure control
  • Frequency-domain H∞ controller design
  • Grey-box system identification
  • Nyquist stability criterion


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