Dual, Iterative H2-Conic Controller Synthesis

The Conic Sector Theorem can be employed for controller synthesis to ensure input-output stability. This work develops a method to synthesize conic, observer-based controllers by minimizing an upper-bound on the closed-loop ${\mathcal{H}_2}$-norm. The proposed method can be seen as the dual of an existing optimal synthesis method, but with an alternative initialization to expand the set of plants for which it is feasible. This results in better performance in some examples and therefore provides a useful alternative tool for robust and optimal control.