Multivariable feedback control system design with H∞ loopshaping

This paper investigates loopshaping design for multivariable feedback control systems based on H∞ control. Instead of shaping loop transfer function, frequency shape of the sensitivity and of its complementary is the design objective that leads to the weighted mixed sensitivity minimization in H∞. The synthesis problem is decomposed into synthesis of weighting functions and synthesis of feedback controllers. New design procedures are proposed and relations to the existing techniques discussed