Convexity of diagonally scaled infinity norm optimal control problems-the square, one-sided case

A diagonally scaled multivariable L^∞ optimization problem is reduced to finite-dimensional convex optimization for the case of square T₁₂, T ₂₁d, T₁₁∈(H^∞ )^n×n and either T₁₂ or T ₂₁ containing no RHP zeros, i.e. the square, one-sided case. The solution to this problem plays a key role in the design of multivariable feedback controllers which optimize the excess stability margin or, equivalently, the structured singular value μ