A completely state-space formula for the H∞ suboptimal solutions of linear systems is given. A general non-square 4-block model matching problem is produced from a normal control system. And the solution for this 4-block problem is received. This method is conveniently applied in computer-aided design,and is also convenient in further synthsis and analysis of the systems.
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Liu Pin, Wang Zhengzhi, Zhang Liangqi. H∞ Optimal Control: Completely State-space Design[J]. Journal of National University of Defense Technology,1990,12(2):58-67.