Robust performance H2/H∞ optimal control

This paper considers the robust performance mixed H₂/H _∞ optimal control problem formulation. An explicit parametrization of H_∞ norm bounded, causal, real-rational uncertainties is used, based on LMIs. This leads to a constrained H₂ optimal control problem. In case the uncertainty can be considered to lie on its bound, a new parametrization for lossless bounded real functions can be used. Using this parametrization, it is possible to formulate an unconstrained optimization problem for the solution of the robust performance mixed H ₂/H_∞ optimal control problem. The theory is applied to a compact disc robust control problem