The windsurfer approach to iterative control and identification using an H_∞ algorithm

The windsur ng approach to iterative control entails several controller designs to gradually and safely widen the closed-loop bandwidth. Eventually some validation tests are carried out in order to stop the algorithm. In this paper, an H_∞ design algorithm is presented in order to remove the empirical aspect from the stopping criteria and to make the procedure more systematic, hence expediting the design. Furthermore, a new controller design method is introduced which relaxes some restrictive assumptions on the plant model and tackles well some issues with the controller design step. This enables us to address a wider class of practical problems.