# Fixed-Order H2-Conic Control

arXiv: https://arxiv.org/abs/2110.03747 · HTML: https://mlsanity.com/paper/2110.03747/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 7 Oct 2021.

## Built on by (most cited first, 1 of 1)

- [Dissipative Imitation Learning for Robust Dynamic Output Feedback](https://mlsanity.com/paper/2210.00979/) (2022)

## Abstract (arXiv)

H2-conic controller design seeks to minimize the closed-loop H2-norm for a nominal linear system while satisfying the Conic Sector Theorem for nonlinear stability. This problem has only been posed with limited design freedom, as opposed to fixed-order design where all controller parameters except the number of state estimates are free variables. Here, the fixed-order H2-conic design problem is reformulated as a convergent series of convex approximations using iterative convex overbounding. A synthesis algorithm and various initializations are proposed. The synthesis is applied to a passivity-violated system with uncertain parameters and compared to benchmark controller designs.