qChapter 16 first solves a special *H**¥* minimization problem. Let be a normalized left
coprime factorization. Then we show that

This implies that there is a robustly stabilizing
controller for
with

if and only if

Using 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.

Chapter
16