Observer-based Guaranteed Cost Control

This paper presents a design scheme of a minimal order observer-based guaranteed cost controller for uncertain linear systems. The perturbations are assumed to be described by structural uncertainties. An iterative linear matrix inequality (ILMI) approach is used to design the observer-based controller since the problems contain inverse relations. We modify the algorithm of Matsunaga et al by optimizing a sufficiently large initial guaranteed cost. This method can be implemented by LMI control toolbox of Matlab. Finally, a numerical example is given to illustrate the effectiveness of the proposed method.