ℒ∞-optimal control of SISO continuous time systems and its rational approximations

After a brief introduction to L_∞-optimal control the paper is organized as follows: In Section 2 the authors introduce some mathematical preliminaries. In Section 3 the authors formulate their optimisation problem. In Section 4 they analyze the problem, obtain exact solutions to two classes of systems and discuss briefly approximation methods. In Section 5 the authors present and study in detail one of the approximation methods,-the EAS method. Finally the authors indicate how to select weights to get stability, zero steady state error as well as desired time responses