Abstract
This paper addresses synthesis of strictly positive real H2 controllers. An upper bound on the H2 norm of the closed-loop transfer function is minimized under constraint of strict positive realness on controllers. We propose a multi-stage design procedure to construct this type of controllers. First, we parametrize both Lyapunov solutions and controllers. Second, we show that if we partially fix them alternatively, we can improve the H2 performance iteratively while allowing for distinct Lyapunov solutions. A numerical example illustrates the applicability of the proposed method.
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