Robust performance H2/Hinfinity al control

This paper considers the robust performance mixed H2/Hm optimal control problem formulation. An explicit parametrization of Hm norm bounded, causal, realrational uncertainties is used, based on LMIs. This leads to a constrained H2 optimal control problem. In case the uncertainty can be considered to lie on its bound, a new parametrization for lossless bounded real functions can be used. Using this parametriza tion, it is possible to formulate an unconstrained optimization problem for the solution of the robust performance mixed H2/H~ optimal control problem. The theory is applied to a Compact Disc robust control problem.