Quadratic performance measure for optimum design of linear systems

A method is presented for the evaluation of the integral of the square of the derivative of the error of time-invariant linear systems excited by deterministic inputs. The method is relatively simple in theory and is easy to compute. A performance measure, as a sum of the integral of the square of the error and the integral of the square of the derivative of the error, can be used effectively for the design of optimum linear systems. Depending on the number of integral terms used, the performance measure can be made quite flexible.