Defragilization in optimal design and its application to fixed structure LQ controller design

In this work, we present a general methodology to address the recently debated fragility issue in optimization-based modern control systems design. Based on this methodology we have developed a defragilization procedure which is applied to fixed structure linear quadratic (LQ) control design. Issues regarding computational efficiency of the procedure and the relationship between controller fragility and controller parameterization are discussed via two examples taken from practical applications. The first example is based on a rotary cement kiln control application and the latter example on a wing flutter control application. The procedure could also be used in design problems with specifications which are related to controller nonfragility requirements, e.g., so as to allow some degree of controller online tuning.