Abstract
A linear model containing norm bounded uncertainties and exogenous input is considered. The purpose is to design an LQ regulator (by properly choosing the weighting matrices) such that the closed loop system has (if it is possible) both prescribed levels of robustness (with respected to the norm bounded uncertainties) and prescribed levels of input-output attenuation (with respect to the exogenous inputs and selected outputs). Necessary and sufficient conditions are presented for this problem. It is also shown how the results in this paper can be used to cope with the robust decoupling problem.
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