Controller design of two-mass-spring system based on BMI optimization

This paper gives a design example of multipurpose controllers for two-mass-spring systems based on BMI optimization technique. The obtained controller achieves (a) tracking with zero steady-state error, (b) pole placement in a prescribed region, and (c) optimal H/sub /spl infin// performance, simultaneously in the presence of physical parameter uncertainties. In addition, its effectiveness is demonstrated via simulations and experiments.