qChapter 16 first solves a special H¥minimization problem. Letbe a normalized left
coprime factorization. Then we show that
qThis implies that there is a robustly stabilizing
qif and only if
qUsing this stabilization result, a loop-shaping design technique is proposed.
This technique uses only the basis concept of loop-shaping methods, and then a
robust stabilization controller for the normalized coprime factor perturbed system is used
to construct the final controller.