Sensitivity shaping with degree constraint via convex optimization

We present an approach for shaping closed-loop operators while keeping their Mcmillan degree bounded by the sum of unstable plant-poles and non-minimum phase plant-zeros. We make use of recent developments in analytic interpolation with degree constraint and we focus on the paradigm of sensitivity minimization. The sensitivity function can be obtained as the minimizer of a convex weighted-entropy functional. It is the choice of this weight that we formulate as a convex optimization problem in this paper