This paper focuses on the observer-based controller design problem and proposes a novel H∞/LTRsysthesis method in which the H∞ design technique is combined with the Loop Transfer Recovery (LTR) design methodology. The method involves two designing steps. First, an H∞ full state feedback controller is designed to satisfy the robust stability and performance specifications, which can be done independently of the recovery optimization. Subsequently, the properties of the H∞ state feedback can be reobtained by designing fullor reduced order observers. A case study is presented to illustrate the proposed method.
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