On robust controller synthesis with dynamic D-scalings

Robust controller synthesis with dynamic D- scalings relies on iterating between robustness analysis and nominal controller synthesis. It has been suggested in the literature how to synthesize the scalings, either by a frequency- by-frequency robustness analysis and subsequent curve-fitting (within the M/F-iteration), or by loop-transformations and ensuing optimization over a positive-real constraint (within the M/F-iteration). All these approaches are not suited to form the basis for gain-scheduling synthesis with dynamic D-scalings by convex optimization. The purpose of the present paper is to suggest a novel robust synthesis algorithm which does allow this extension, as reported in an accompanying paper.