Combined pole placement/sensitivity function shaping method using convex optimization criteria

@article{Langer1997CombinedPP,
  title={Combined pole placement/sensitivity function shaping method using convex optimization criteria},
  author={Jochen Langer and Ioan Dor{\'e} Landau},
  journal={1997 European Control Conference (ECC)},
  year={1997},
  pages={2484-2489}
}
This paper deals with the design of robust digital controllers by the combined pole placement / sensitivity function shaping method. It shows that the design problem can be formulated and solved as a convex optimization problem. Specifications like dominant closed-loop poles or integration controller action may be introduced just as well as other fixed parts for the controller. Experimental results obtained in controller design for a very flexible 360° arm are presented. 

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