controller structure & nonsmooth programming - Pierre Apkarian - Free
controller structure & nonsmooth programming - Pierre Apkarian - Free
controller structure & nonsmooth programming - Pierre Apkarian - Free
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challenges <strong>nonsmooth</strong> opt. MATLAB tools The End<br />
<strong>nonsmooth</strong> technique pseudo-code<br />
scheme<br />
1 compute an extension set of the Clarke subdifferential of the H ∞ objective<br />
2 estimate local curvature to speed up convergence<br />
3 form tangent program and compute descent direction<br />
4 perform line search<br />
5 loop over 1-4 until convergence<br />
• stopping test and remote (global) convergence<br />
P. <strong>Apkarian</strong>, D. Noll, 2006.<br />
<strong>controller</strong> <strong>structure</strong> & <strong>nonsmooth</strong> <strong>programming</strong> - http://pierre.apkarian.free.fr<br />
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