qDetails of D-K Iterations:
(i) Fix
an initial estimate of the scaling matrix Dw Î D point-wise across frequency.
(ii) Find
scalar transfer functions di(s), di-1(s) Î RH¥ for i =1,…, (F-1) such that |di(jw)|» diw .
(iii) Let D(s)=diag(d1(s)I, …, dF-1(s)I, I). Construct a state space
model for system
•
(iv)
Solve an H¥ optimization problem to minimize
over all
stabilizing K’s. Denote the minimizing controller
by
