An LTI control toolbox — Simplifying optimal feedback controller design

This paper presents a novel LTI control toolbox, aiming at transparent optimal feedback controller design. It provides a compact and intuitive syntax to model the control configuration and to formulate performance specifications based on an criterion. Its core contains state-of-the-art solvers which are able to handle unstable weights. Moreover, improper weighting functions can be handled and state measurements are exploited to reduce the controller order. On account of these aspects, the synthesized controllers require no post-processing. A comparison with Matlab's robust control toolbox shows a clear improvement regarding the expression of controller specifications and the computation time.