Extended output L∞ constraint problem by weight selection in LQ control

This paper develops a measurement and state feedback controller that minimizes an upper bound of the weighted supremum summation of the L_∞. norms for individual input channel subject to the constraints that the L_∞ norm of each output is bounded by given constants, and subject to all disturbances whose outer products of disturbances are less than or equal to a constant positive definite matrix N.