Time domain constrained H ∞ - synthesis

StructuredH∞-synthesis subject to time domain performance specifications is introduced. Our method allows to control trajectories of the linearized system and the underlying nonlinear dynamics simultaneously. A non-smooth bundle optimization method for this class of programs is proposed and discussed. Our approach is tested against two benchmark studies: control of a rotational actuator to attenuate vibration noise, and control of a continuous crystallizer. Our algorithm gives a local convergence certificate and is suited for systems with large state dimension.