An Easy-to-Use $ {\cal H}_{\infty }$/LTR Control Solution With Mixed-Sensitivity Properties

In this technical note an easy-to-use <i>H</i><sub>∞</sub>/LTR control solution with mixed-sensitivity properties is presented. This theory can be viewed as an expansion of LQG control via <i>H</i><sub>2</sub> optimization point of view. The proposed methodology allows the control designer to bound the reference tracking frequency peak in the loop shaping at a lower value than the usual LQG/LTR setup, reducing the system overshoot. This feature is obtained by applying the LTR to the <i>H</i><sub>∞</sub> state-feedback control.

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