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State-space formulas are derived for the minimum-entropy $\mathcal{H}_\infty$controller when the plant and controller are constrained to beblock-lower-triangular. Such a controller exists if and only if: thecorresponding unstructured problem has a solution, a certain pair of coupledalgebraic Riccati equations admits a mutually stabilizing fixed point, and apair of spectral radius conditions is met. The controller's observer-basedstructure is also discussed, and a simple numerical approach for solving thecoupled Riccati equations is presented.

State-space solution to a minimum-entropy $\mathcal{H}_\infty$-optimal control problem with a nested information constraint