A simple, efficient H∞ controller algorithm

The object here is to introduce a computational procedure for an H_∞, controller which should find wide acceptance within industry. The computer algorithms are both simple and numerically reliable. Most current MIMO H_∞, techniques are very complex. Progress in the multivariable case might be made by simplifying the equations as above (not model reduction). The polynomial approach should give some necessary insights into the problem. For SISO, simplicity of the design algorithm and the z-transfer function format suggests a possible usoef robust controllers in real-time self-tuning systems.