Robust stabilization and disturbance rejection for systems with structured uncertainty

A method based on the algebraic Riccati equation is presented for designing state- and output-feedback control laws for plants with structured uncertainty. The designs provide both robust stability and disturbance rejection with robust H/sub infinity /-norm bounds. The design method consists of incorporating information on the plant uncertainty into the algebraic Riccati equations used for nominal H/sub infinity / disturbance-rejection designs.