A noniterative method for the design of linear robust controllers

A procedure for determining a linear control law which guarantees asymptotic stability for an uncertain system is derived. Using an elementary matrix identity, an alternative proof of the existence of stabilizing control law for the matched case is provided. Bounds for the rates of decay are established, and by using these bounds it is shown that every trajectory of the closed-loop system can be made to decay at a prespecified exponential rate. The technique is simpler to use than existing techniques since it does not require a numerical procedure, but allows the control law to be obtained from some simple formulas