Robust Control pp 162-169 | Cite as

H-suboptimal controller design of robust tracking systems

  • Toshiharu Sugie
  • Masayuki Fujita
  • Shinji Hara
Conference paper
Part of the Lecture Notes in Control and Information Sciences book series (LNCIS, volume 183)


In this paper, we have discussed the problem to find a controller which satisfies (a) internal stability, (b) robust tracking, (c) the exact model matching and (d) the specified H control performance related to the feedback properties. First, we have obtained a necessary and sufficient condition for such a controller to exist. Then, we have parametrized all such controllers, where (i) the two-degree-of-freedom compensator configuration and (ii) the free parameter of the H suboptimal controller are fully exploited.


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Copyright information

© Springer-Verlag 1992

Authors and Affiliations

  • Toshiharu Sugie
    • 1
  • Masayuki Fujita
    • 2
  • Shinji Hara
    • 3
  1. 1.Div. of Applied Systems ScienceKyoto UniversityUji, KyotoJapan
  2. 2.Dept. of Electrical and Computer EngineeringKanazawa UniversityKodatsuno, KanazawaJapan
  3. 3.Dept. of Control EngineeringTokyo Institute of TechnologyMeguro-ku, TokyoJapan

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