Rational suboptimal continuous-time controller design

We obtain rational suboptimal continuous-time solutions to some optimal control problems specified via time domain performance criteria. These include ℒ₁ and ℒ_∞ norms and peak overshoot. The approach uses linear semi-infinite programming to compute weights for a given finite set of rational basis functions and makes the best possible use of the basis. The closed-loop transfer functions obtained satisfy appropriate interpolation constraints for internal stability and the formulation allows additional linear constraints to be incorporated