A novel formal loop shaping design procedure

The loop transfer recovery method of J.C. Doyle and G. Stein (1978, 1979) has been adapted to achieve a prescribed closed-loop transfer function rather than loop recovery. One problem associated with this method is a doubling of the number of states. A method that uses the asymptotic characteristics of the algebraic Riccati equation to solve the loop-shaping problem using only the original number of states is proposed. An example using a four-state plant is presented to illustrate the method and to compare it to the original loop-shaping technique.<
>