H2-Design in the frequency domain using a two-degree-of-freedom controller

This paper presents an H₂-technique for the design of a two-degree of-freedom controller for linear systems. The algebraically decoupled reference tracking and disturbance rejection problem are solved separately by using the factorization approach over the set of BIBO-stable transfer functions. The optimal closed loop transfer functions are expressed in form of interpolation conditions. Finally, the resulting design algorithm is rewritten in a polynomial form.