Static H∞ loop-shaping control for Unmanned Helicopter

This paper presents a design procedure of static H_∞ loop-shaping control for linear time-invariant system. The H_∞ loop-shaping weights are selected by maximizing the robust stability margin of closed-loop system while ensuring that the resulting loop-shape lives in a pre-defined region. Existence conditions for a static output loop-shaping controller are given in terms of two linear matrix inequalities. A major advantage of the proposed method is its low computational complexity. Meanwhile, the controller has the simplest structure and the smallest complexity of realization. The efficacy of the proposed method is shown on the AF25B Unmanned Helicopter control design.