ABSTRACT
Regardless of the synthesis employed, P will contain both the systemmodel and the designweights used to communicate to the optimization the desired control system performance. Any linear interconnection of design weights and model can be selected so long as Assumptions A.1 through A.5 are satisfied. To satisfy the assumption that Ruu > 0, all of the control signals must appear explicitly in z. This is to be expected, since we cannot allow the synthesis to produce arbitrarily large control signals. Similarly, to ensure Vyy > 0, every measurement y must be corrupted by some sensor noise so as to avoid singular estimation problems.
