qChapter 16 first solves a special H¥ minimization problem. Let be a normalized left
coprime factorization. Then we show that
q
q
q This implies that there is a robustly stabilizing
controller for
with
q if and only if
q 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.