Abstract
Decoupling design of one-degree-of-freedom controllers is treated for the generalised plant model within the H 2 framework. The class of all realisable closed loop transfer matrices is parametrised under a mild assumption on non-unity feedback sensors. A set of compact assumptions is presented to guarantee the existence of the optimal H 2 controller. Together with the optimal one, the class of all H 2 controllers that yield finite H 2 cost is obtained. The optimal closed transfer matrix and its associated controller are shown to be strictly proper under the reasonable order assumptions on the generalised plant.
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