A successive method for designing an observer-based strictly positive real H2 controller

This paper is concerned with a strictly positive real H₂ controller design problem using an observer-based controller with Kalman filter gain. In this paper, we propose a successive method with non-common Lyapunov variables for this control problem. The feature of our method is to construct a controller sequence on which H₂ norm is monotonically non-increasingly while all controllers are strictly positive real. A numerical example shows the efficiency of our method.