Robust control with step-response matching

The paper outlines an alternative design technique to the standard IH - mixed-sensitivity minimization. The desired closed-loop system behaviour is specified by three requirements: - a hard constraint on the complementary sensitivity in the high-frequency region to account for robustness and actuator limitations, - a model of the desired closed-loop transient behaviour which is specified in the time domain, and a specified tolerance for the deviation of the frequency response from this model, - minimization of the sensitivity in the low-frequency region including a prescribed slope of the magnitude for Omega - 0. From the poles and zeros in the rhp of the plant and these specifications, the optimal closed-loop transfer function is calculated using Chebychev-optimal approximations and Pick interpolation theory.