Multirate H∞ control: A loop-shaping LMI-based approach application to the control of a missile

For many practical reasons, e.g. computational limitations, multirate controllers are frequently used in modern control. The main point of this paper tackles with a new LMI-based method for H
_∞
multirate controller design. The key point of this method is based on the now well-known result that a multirate problem can be turned via a lifting procedure into an equivalent LTI single rate problem with a constraint on the controller structure.