Robust synthesis in /sub 1/: a globally optimal solution

In this paper, a method to synthesize controllers that achieve globally optimal robust performance within any prespecified tolerance, against structured norm-bounded time-varying and/or nonlinear uncertainty is developed. The performance measure considered is the infinity to infinity induced norm of a system's transfer function. The method developed utilizes linear relaxation techniques to solve the infinite dimensional nonconvex problem via finite dimensional linear programming problems.