Multipurpose controller design using parametric optimization with dynamic constraints

A systematic and effective design procedure for a class of linear multivariable feedback control systems is proposed For simultaneously achieving robust tracking of the prescribed input signal via the Q-parametrization approach and internal model principle, the prescribed transient specifications by choosing an appropriate performance criterion, robust stabilization, and sensitivity minimization. The problem can best be cast in the form of an optimization problem with dynamic constraints. A numerical method is formulated to solve the optimization problem with dynamic constraints using a non-linear programming method. A numerical example is provided to illustrate the main results of the paper.