Guaranteed accuracy algorithm in H2 optimal tracking controller synthesis

This paper develops a guaranteed accuracy algorithm for the H2 optimal tracking problem. Given a SISO plant, the method computes, in a manner which guarantees accuracy, the best achievable cost and the optimal controller that achieves it. The algorithm is also able to carry out in two ways the robustness analysis of the performance level against parametric uncertainty in the plant. The algorithm is illustrated on a numerical example.