document: Optimization-based design of fixed-order controllers for command following For discrete-time scalar systems , we propose an approach for designing feedback controllers of fixed order to minimize an upper bound on the peak magnitude of the tracking error to a given command input . The work makes use of linear programming to design over a class of closed-loop systems proposed for the rejection of non-zero initial conditions and bounded disturbances . We incorporate performance robustness in the form of a guaranteed upper bound on the peak magnitude of the tracking error under plant coprime factor uncertainty
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