Controller design to optimize a composite performance measure

This paper studies a mixed objective problem of minimizing a composite measure of thel₁, ₂, andl-norms together with thel-norm of the step response of the closed loop. This performance index can be used to generate Pareto-optimal solutions with respect to the individual measures. The problem is analyzed for discrete-time, single-input single-output (SISO), linear time-invariant systems. It is shown via Lagrange duality theory that the problem can be reduced to a convex optimization problem with a priori known dimension. In addition, continuity of the unique optimal solution with respect to changes in the coefficients of the linear combination that defines the performance measure is estabilished.This research was supported by the National Science Foundation under Grants No. ECS-92-04309, ECS-92-16690 and ECS-93-08481.