Constrained H∞ optimization: a design example

A design framework for constrained H_∞ optimization is given, which contains as a special case the problem considered by A. Sideris and H. Rotstein, (1990). In this framework, performance specifications are posed in the time domain as design constraints, and robust stability is then maximized, via H_∞ optimization in the frequency domain. The results from using the framework are tested by applying them to the benchmark control problem proposed by B. Wie and D. Bernstein (1990). The authors verified that the approach establishes the achievable design limits, which are the critical design specifications and also the suitable tradeoffs between several specifications. At its present state, the approach provides a systematic method to study the key tradeoffs of a problem and obtain preliminary controllers