Restricted structure controller performance assessment and benchmarking: H2 continuous-time case

The economic operation of process plant and machinery controls will depend upon the chosen control law structure and tuning. The problem of defining a benchmark cost, which relates to financial requirements but also provides realistic control activity and properties, is considered. A H₂ criterion is defined, which allows the trade-off to be performed, and a solution to the optimal control problem is presented. Expressions are provided which allow the optimal performance to be found from plant test results