HIFOO is a public-domain Matlab package initially designed for H ∞ fixed-order controller synthesis, using nonsmooth nonconvex optimization techniques. It was later on extended to multi-objective synthesis, including strong and simultaneous stabilization under H ∞ constraints. In this paper we describe a further extension of HIFOO to H2 performance criteria, making it possible to address mixed H2/H∞ synthesis. We give implementation details and report our extensive benchmark results
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