ROBUST-CONTROL SYSTEMS-DESIGN USING H-INFINITY OPTIMIZATION THEORY

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