On the stable ℋ∞ controller parameterization under sufficient condition

@article{Choi2001OnTS,
  title={On the stable ℋ∞ controller parameterization under sufficient condition},
  author={Youngjin Choi and Wan Kyun Chung},
  journal={IEEE Trans. Automat. Contr.},
  year={2001},
  volume={46},
  pages={1618-1623}
}
output of M adds additional signal to the actuator, it may saturate the actuator easily even though the net effect of this Q controller in the ideal case is cancelled in the feedback loop. Another reason is that it is not clear how this structure can be used for fault-tolerant control. 
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