Robust controller design for a constrained flexible structure via mixed I∞/H∞ optimization

M. Sznaier (1992) proposed a design procedure to explicitly incorporate time-domain specifications into the H_∞ framework. In this work, this design procedure is applied to the simple flexible structure used as a benchmark in the 1990-1992 American Control Conferences, with the goal of minimizing the peak control effort due to disturbances while satisfying settling time and robustness specifications. The results show that there exists a severe trade-off between peak control action and robustness to unstructured model uncertainty