Introduction: Goals and origin of H-∞ optimal control, optimizing the command response, optimal disturbance attenuation, robust stability problems; Multivariable frequency response design: Introduction, singular values and sensitivity operators, robust stability analysis, performance analysis and enhancement; Signals and systems; Signals in time and frequency domain, linear systems, L∞ and H∞ spaces, incremental gain, induced norm and 2-norm of a system, small gain theorem, and loop transformation; Linear fractional transformation: Introduction, LFTs in controller synthesis, contractive LFTs, minimizing the norm of LFTs, simplifying constant LFTs and generalized plant; LQG Control: Introduction, finite and infinite horizon cases, Kalman filter, measurement feedback; Full Information H∞ Controller synthesis: introduction, finite horizon case, and infinite horizon case, sufficiency and necessity conditions; H∞ Filters; H∞ Generalized Regulator Problem; Optimal Model Reduction.
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