•Solution
approach:
• Parametrize all stabilizing controllers via
[Youla et
al]
• Obtain realizations of the closed-loop
transfer matrix
• Transform to 2x2 block general distance
problem
• Reduce
to the Nehari problem and solve via Glover
•Properties
of the solution:
• State-space using standard operations
• Computationally intensive (many Ric.
eqns.)
• Potentially high-order controllers
• Find solution < g , iterate for optimal