Guaranteed control and output bounds with LEB regulators and their H∞ disturbance rejection

We present a technique that allows to find a regulator to make a linear system satisfy control and output l₁-norm bounds and, modifying them, to achieve a desired H_∞-norm of the disturbance to output transfer function. We'll show that we cannot independently define the H_∞ (frequency) and l₁ (time-domain) bounds.