State-space approach to l(1)-optimal robust tracking

In most II optimization work, the plant model is typically expressed as a t ransfer function matrix, often in the more specialized coprime factorizatio n form. The derivation of the optimization problem can he complicated, at t imes requiring an understanding of advanced mathematical concepts. State-sp ace approaches to control problems, however, frequently result in intuitive ly simpler methods. A state-space alternative to the transfer function meth ods of our previous work is presented. The controllers generated are optimi zed for a specific tracking maneuver and are also designed to minimize the sensitivity to disturbances, sensor noise, and modeling errors,A block diag ram similar to the model reference approach is used, which has the potentia l to give better controllers than the conventional block diagram.