How to Achieve the Best Trade-off Between Robustness and Performance

The work presents an innovative approach to addressing the trade-off between robustness and performance, known as the optimality criterion. Moreover, the procedure relies on well-established methods that effectively support the search for the best trade-off, namely multi-criteria optimization problem. Thus, by separating the robustness and performance problems, it becomes possible to achieve the best trade-off between these two criteria. In this search for a trade-off, two complementary approaches are combined: robust control for the closed-loop system by minimizing Hinf-norm, and performance optimization in open-loop by minimizing l2-norm. This combination is made possible by the Youla-Kučera parameterization. However, to implement this parameterization in the presence of model errors, a new approach is used: estimating the Youla-Kučera parameterization.