•background
•H¥ : 1984 workshop approach
•assumptions
•output feedback control
•a matrix fact
•inequality
characterization
•connection between ARE and ARI (LMI)
•proof for necessity
•proof for sufficiency
•comments
•optimality and dependence on g
•H¥ controller structure
•example
•an optimal controller
•H¥ control: general case
•relaxing assumptions
•H2 and H¥ integral control
•H¥ filtering