Derivative State Constrained Optimal H2Integral Servo Controller with a Prescribed Degree of Stability

In this paper, the derivative state constrained optimal H₂ integral servo controller is presented based on the optimal H₂ control problem with a prescribed degree of stability to reduce under damped responses of the controlled linear systems. The proposed servo controller stabilizes the controlled system with a prescribed degree of stability such that its output tracks a step reference input in an optimal H₂ control sense. It is shown that the derivative state constrained optimal H₂ integral servo problems with a prescribed degree of stability can be reduced to the standard optimal H₂ control problem. The application of the proposed method is illustrated by a simulation example of the crane model system to show its effectiveness