Robust stabilization of normalized coprime factors: an explicit H∞ solution

@article{Glover1988RobustSO,
  title={Robust stabilization of normalized coprime factors: an explicit H∞ solution},
  author={Keith Glover and Duncan McFarlane},
  journal={1988 American Control Conference},
  year={1988},
  pages={842-847}
}
The problem of robustly stabilizing a linear system subject to H<sub>∞</sub> bounded perturbations in the Numerator, N, and denominator, M, of its normalized left coprime factorization is explicitly solved. Although this is a particular H<sub>∞</sub> optimization problem which would normally require an iterative solution, it can in fact be solved directly giving the optimal stability margin 1 - ||M , N||<sup>2</sup><sub>H</sub>. 

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