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SUMMARYIn this paper, an optimization method of low-order multivariable controllers for H ∞ control is proposed. Starting from a low-order stabilizing controller, our method gives a sequence of controllers for which the H ∞ norm performance index is monotonically non-increasing by tuning the numerator coefficient matrices of the low-order controller. This controller class includes multivariable PID controllers. The proposed method is a descent method where the feasible direction is calculated by solving a linear matrix inequality that represents a sufficient condition for the H ∞ criterion for each frequency. Usefulness is shown by two numerical examples.

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