Relationship between H/sub 2/ control performance limits and RHP pole/zero locations

This paper is concerned with H/sub 2/ control performance limits for SIMO systems. We derive an H/sub 2 /tracking performance limitation for SIMO plants, where we take the control input constraint into account. We also show the dual result for an energy regulation problem. We then apply the results to a class of physical systems including cranes and inverted pendulums. After classification of the systems with respect to the pole/zero locations in the right half complex plane, we investigate the measure for difficulty of control in terms of the plant structure and its physical parameters.