Optimal tracking and rejection of persistent bounded signals for mimo continuous systems

Abstract

This paper introduces a design methodology for an optimal stabilizing compensator that not only minimizes the maximum tracking error but also minimizes the maximum amplitude of the undesired part of the output of a multivariable (MIMO) continuous-time system due to any persistent bounded disturbances. For this purpose a two-parameter compensator scheme is adopted in the design of the feedback system. This paper emphasizes that the optimal compensator design problem is equivalent to a constrained L1-norm minimization problem and its solution can be obtained by standard non-linear programming routines.