In this paper, we consider a synthesis problem of a feedback compensator which achieves the following three design specifications: 1) closed-loop internal stability, 2) desired feedback characteristics such as robust stability, sensitivity reduction and disturbance attenuation, and 3) robust tracking. We show that the Glover-Doyle's solution on H∞ control problem can be directly applied to the case where the integrated error is evaluated if we modify the problem appropriately. The properties of the Riccati equations to be solved and the order reduction of the resultant controller are also investigated. The proposed method is applied to the position control of a linear AC servo motor.
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