General Formulae for Suboptimal H∞ Control over a Finite Horizon
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In this chapter a general suboptimal control problem is posed, and an expression for a suboptimal controller is derived solving the saddle point conditions. Based on this, a formula for a state feedback suboptimal controller can be derived by solving a dynamic Riccati equation. Then an expression for a suboptimal output feedback controller is developed in a general case via the solution of two dynamic Riccati equations.
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