H ∞ generalized minimum sensitivity control design

This paper presents a two‐stage approach to the H ∞ generalized sensitivity minimization problem ( H ∞ ‐GSM) for SISO, continuous‐time plants. Besides some possible advantages in the control law evaluation with respect to alternative polynomial methods, the proposed approach provides a direct link with the solution of an underlying generalized minimum variance ( H 2 ‐GMV) problem and allows one to identify the class of the joint H 2 / H ∞ ‐GMV (equalizing H 2 ‐GMV) optimal controllers.