Enforcing time domain specifications through the robust performance and H∞ optimization problem

This paper presents a method in which the performance weights W₁(s) and W₁(s) of the robust performance problem and/or the H_∞ optimization problem can be chosen to enforce hard time domain constraints. The class of systems addressed are single-input-single-output (SISO) regulating systems required to maintain the output within a prespecified time domain tolerance despite: i) plant uncertainty, ii) an external step disturbance, and iii) actuator limitations (i.e., output saturation and bandwidth). The performance weights are constructed from the feedback configuration and facilitate disturbance maximization.