Multi-Lagrange-Multiplier Problems: Desensitized Pole Assignment With Minimal Controller Matrix Norm for Networked Control Systems and Constraints in High-order Mechatronics

From a computational viewpoint, state controllers are implemented in fixed-point microcontrollers with matrices small in norm sense. Inaccuracies when implementing K in networked or remote control are anticipated by including a particular desensitization term. A direct approach for minimizing the Frobenius norm of the controller matrix is addressed including the conditions of predetermined eigenvalues of the closed-loop system. In mechatronics, there is a challenging demand on optimization augmented by a considerable number of conditions. The problem is solvable with several equality conditions included by Lagrange multipliers and interpolation techniques.