Predictive Hinfinity model reference optimal control law for SIMO systems

The design of H_infinity robust controllers for systems with single-input and many outputs is considered. Many simplifications can be achieved over the more general multivariable problem which is important in self-tuning control applications. The tracking problem considered is novel and allows a model-following capability to be introduced. A predictive control feature is also available which enables future values of the set point to be taken into account, as in pre-programmed robot control.