| We consider two new algorithms with practical application to the problem of designing controllers for linear dynamical systems with input and output: a new spectral value set based algorithm called hybrid expansion-contraction intended for approximating the Hinfinity norm, or equivalently, the complex stability radius, of large-scale systems, and a new BFGS SQP based optimization method for nonsmooth, nonconvex constrained optimization motivated by multi-objective controller design. In comprehensive numerical experiments, we show that both algorithms in their respect domains are significantly faster and more robust compared to other available alternatives. Moreover, we present convergence guarantees for hybrid expansion-contraction, proving that it converges at least superlinearly, and observe that it converges quadratically in practice, and typically to good approximations to the Hinfinity norm, for problems which we can verify this. We also extend the hybrid expansion-contraction algorithm to the real stability radius, a measure which is known to be more difficult to compute than the complex stability radius. Finally, for the purposes of comparing multiple optimization methods, we present a new visualization tool called relative minimization profiles that allow for simultaneously assessing the relative performance of algorithms with respect to three important performance characteristics, highlighting how these measures interrelate to one another and compare to the other competing algorithms on heterogenous test sets. We employ relative minimization profiles to empirically validate our proposed BFGS SQP method in terms of quality of minimization, attaining feasibility, and speed of progress compared to other available methods on challenging test sets comprised of nonsmooth, nonconvex constrained optimization problems arising in controller design. |
