Abstract
This note clarifies the mechanism of pole-zero cancellations that appeared in the derivation of the H ∞ optimal controller via a solution of the corresponding model matching problem. The cancellable factor is explicitly expressed using chain scattering matrix descriptions. A simple state space formula of the sub-optimal controller is also presented based on the chain scattering forms, and we show that there is a mixed sensitivity problem that can be solved by calculating a solution of only one Riccati equation in each iteration.
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