A Hadamard weighted loop shaping design procedure

The authors introduce a design procedure for linear system controllers that incorporates the loop shaping design of D. C. McFarlane and K. Glover (1992) and allows element-by-element weighting, or Hadamard weighting, of the closed loop. The method provides a single design variable which the designer can vary to trade off stability robustness with performance. A design example carried out on an ill-conditioned plant is presented. This example demonstrates the ease with which approximate decoupling can be enforced while maintaining stability robustness and the way in which time domain requirements can be achieved using H_∞-based techniques