ABSTRACT
This chapter presents an H∞ design that alleviates some difficulties with standard internal model control, while still obeying the same spirit of simplicity. It also presents the analytical solution to the proposed design method, based on the H∞ Weighted Sensitivity Problem, a generic solution, independent of the specific weight. The chapter follows with an analysis of the solution in terms of a generic weighting function but with a specific and motivated structure. It introduces some stability and robustness characteristics in terms of the dual-locus diagram. The chapter deals with its application to analytical tuning of proportional-integral (PI) controllers. The chapter presents an H∞ design, which avoids some of the limitations of the Internal Model Control (IMC) method, while retaining its simplicity as much as possible. It also deals with the application of the presented design method to the tuning of PI compensators. However, the conventional IMC-based tuning continues to exhibit poor disturbance attenuation even for the tight case.
