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This is a tutorial paper describing the application of infinity-norm optimal control theory to the synthesis of sector bounded and positive-real multivariable feedback systems. The paper gives a concise treatment of the practical aspects of the theory, describing how it has been implemented via state-space-oriented computer algorithms. Included is a concise summary of the state-space approach to infinity norm control developed by Doyle and by Safonov and Verma, based on the Hankel model reduction theory and incorporating the multivariable Hankel results of Glover.
Safonov et al. (Sun,) studied this question.