Mixed sensitivity optimization to avoid pole/zero cancellation (Q1367199)

The \(H^\infty\) optimization for single input, single output systems is considered. As the mixed sensitivity formulation of Kwakernaak leads to cancellation of left hand plane poles and zeros which may lead to loss of robustness in the case of low damped poles, the new approach of the authors with three weighting functions is presented. It is compared also with loop shaping design of McFarlane and Glover. In contrast to the latter approach, some closed-loop poles are assignable and a relatively lower-order controller can be obtained directly. A two-mass system design example is presented.