Frequency domain synthesis for maximal rejection of persistent bounded disturbances

A frequency domain design methodology was proposed by S. Jayasuria and M.A. Franchek (1988) for synthesizing controllers that maximize the size of a persistent bounded disturbance while satisfying time domain constraints placed on the system states and the input and the bandwidth limits on actuators and sensors. The design technique is based on mapping the time domain constraints into the frequency domain to determine bounds within which the loop transfer function must lie. The design procedure, although effective, remains theoretically incomplete. Necessary and sufficient conditions under which the design method yields a valid closed-loop system are given. The technique is applied to a speed control system