Generalized quadratic weights for asymptotic regulator properties

This paper describes a generalized quadratic weight selection procedure based on asymptotic modal properties of linear-quadratic regulators as control weights tend to zero. Explicit formulas are developed for weighting matrices which produce an asymptotic eigenstructure consisting of
p \leq n-m
finite modes, with the rest tending to infinity in selectable Butterworth patterns or determined by other secondary design considerations.