H<inf>∞</inf> loop shaping: Why is it a sensible procedure for designing robust flight controllers?

In this paper, "H∞ loop shaping is motivated as a sensible procedure for designing robust linear feedback controllers. To this end, meaningful guarantees on closed loop behaviour achievable via H∞ loop shaping design are presented. It also shown how to translate basic control system design specifications into weighting functions. The H∞ loop shaping cost function is considered from a novel perspective, and a typical design cycle and design strategy are described in detail. Finally, the industrial viewpoint is discussed, i. e. the ease with which H∞ loop shaping controllers can be designed and implemented, and the effort required to learn H∞ loop shaping