Robust control systems design using H-infinity optimization theory

Abstract

In this paper, we show step-by-step procedures for applying the H°° theory to robust control systems design. The objective of the paper is to eliminate the possible difficulties a control engineer may encounter in applying H°° control theory. We will review the physical meanings of the H°° norm, explain how it relates to robustness issues, and show how to formulate H°° optimization problems, including the construction of a state-space realization of the generalized plant. An efficient algorithm is used to compute the optimal H°° norm. The controller formulas of Glover and Doyle are slightly modified and are used to construct an optimal controller without any numerical difficulty.