Multipurpose controller synthesis in LQG optimal systems

In this paper, a simple technique is introduced to synthesise an optimal controller, to achieve the following purposes in LQG optimal systems: (i) input-output decoupling; (ii) complete and arbitrary pole placement; (iii) some zero assignments in Re (s) ¿¿ 0, which may be convenient for us in dealing with rejection and tracking problems. Wiener¿¿Hopf´s technique (frequency domain approach) is employed, and two frequency-dependent weighting matrices are shaped to synthesise an LQG optimal controller, to achieve the aforementioned design purposes.