Stable-H is a CAD package for designing H∞ optimal controllers for linear, time-invariant finite-dimensional continuous-time, multivariable systems. H2 (eg, LQG) optimal controllers can also be designed but the main purpose of Stable-H is H∞design. The name Stable-H was coined because the package optimises, over the set of all stabilising controllers, the H∞ or H2norm of a given cost function. In this paper we will describe the important features of Stable-H and give an example of its application.
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