Suboptimal robust synthesis for MIMO plant under coprime factor perturbations

Suboptimal robust synthesis for MIMO nominal system under coprime factor perturbations is considered in classical and non-classical statements. In the classical statement, weights of perturbations and upper bound on magnitude bounded exogenous disturbance are assumed to be known to controller designer. Suboptimal synthesis within ε tolerance is reduced to the solution of log₂(1/ε) standard mixed sensitivity problems of ℓ₁ optimization. In the non-classical statement, the upper bounds on perturbations and exogenous disturbance are to be estimated from measurement data and suboptimal synthesis is reduced to the solution of 1/ε mixed sensitivity problems.