Selecting the performance weights for the μ and H_∞ synthesis methods for SISO regulating systems

Presented in this paper is a method in which the performance weights W₁(s) and W₂(s) of the robust performance problem and the H_∞ optimization problem can be chosen to directly enforce hard time domain constraints. The class of systems addressed are single-input-single-output (SISO) regulating systems required to maintain the output within a prespecified time domain tolerance despite (i) plant uncertainty, (ii) an external step disturbance, and (iii) actuator output saturation. The performance weights are extracted from the feedback configuration and facilitate performance maximization.