HIFOO: H-Infinity Fixed Order Optimization
A MATLAB package for fixed-order controller design
H-infinity controller design for linear systems
is a difficult, nonconvex and typically nonsmooth (nondifferentiable)
optimization problem when the order of the
controller is fixed to be less than that of the open-loop plant, a typical
requirement in e.g. embedded aerospace control systems.
HIFOO is aimed at solving fixed-order stabilization and local
optimization problems. It depends on a hybrid algorithm for
nonsmooth, nonconvex optimization based on several techniques, namely
quasi-Newton updating, bundling and gradient sampling.
HIFOO Software Links
HIFOO 1.0
addresses the following control design problems:
fixed-order stabilization (including static output feedback
stabilization),
fixed-order H-infinity local optimization,
fixed-order complex stability radius local optimization,
fixed-order stability margin (spectral abscissa) local optimization.
fixed-order robust stability margin (pseudospectral abscissa) local optimization.
HIFOO 1.5
addresses the same design problems but allows the user to specify structure
in the controller. It also allows problems with nontrivial feed-through.
HIFOO 1.75 (used in our CDC 2008 paper, see below),
supports strong stabilization and multiple plants
HIFOO 2.0 (with extensions and a new interface)
(link to source repository)
(download zip file)
HIFOO 3.0 (with extensions to mixed H-infinity/H2 performance and bug fixes to HIFOO 2.0)
HIFOO 3.1 (with a few improvements to HIFOO 3.0)
HIFOO 3.5 (allows controller variables to be fixed to nonzero values using options.struct)
Papers and Reports Related to HIFOO (up to 2008)
- J. V. Burke, D. Henrion, A. S. Lewis, and M. L. Overton.
HIFOO - A MATLAB Package for Fixed-order
Controller Design and H-infinity Optimization.
(in IFAC Symposium on Robust Control Design Toulouse, France, July 2006)
- M. Millstone.
HIFOO1.5: Structured control of linear systems with a non-trivial feedthrough. Master's Thesis. Department of Mathematics, Courant
Institute of Mathematical Sciences, New York University, September 2006.
- D. Henrion,
Some
Control Design Experiments with HIFOO.
- D. Knittel, D. Henrion, M. Millstone and M. Vedrines,
Fixed-order and Structure H-infinity Control with Model Based Feedforward
for Elastic Web Winding Systems
(in Proceedings of the IFAC/IFORS/IMACS/IFIP Symposium on Large Scale
Systems (LSS), Gdansk, Poland, 23-25 July 2007.)
- S. Gumussoy, M. Millstone and M.L. Overton,
H-infinity Strong Stabilization via HIFOO, a Package for
Fixed-Order Controller Design
(in Proceedings of CDC 2008, Cancun)
- S. Gumussoy and M.L. Overton,
Fixed-Order H-infinity Controller Design via HIFOO,
a Specialized Nonsmooth Optimization Package
(in Proceedings of ACC 2008, Seattle, pp. 2750-2754)
- S. Gumussoy and M.L. Overton,
Timings for Numerical Experiments on Benchmark Examples for
Fixed Order H-infinity Controller Design
For an updated list click here.