Fixed-order H∞ controller design via HIFOO, a specialized nonsmooth optimization package

We report on our experience with fixed-order Hfr
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controller design using the HIFOO toolbox. We applied HIFOO to various benchmark fixed (or reduced) order Hfr
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controller design problems in the literature, comparing the results with those published for other methods. The results show that HIFOO can be used as an effective alternative to existing methods for fixed-order Hfr
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controller design.