Stabilization of Minimum-Phase Linear Systems. Normal Form and System Zeroes. The Hypothesis of Minimum-Phase. The Case of Relative Degree 1. The Case of Higher Relative Degree: Partial State Feedback. The Case of Higher Relative Degree: Output Feedback.

The Small-Gain Theorem for Linear Systems and Its Applications to Robust Stability. The L2 Gain of a Stable Linear System. An LMI Characterization of the L2 Gain. The H Infinity Norm of a Transfer Function. The Bounded Real Lemma (without proof). Small-Gain Theorem and Robust Stability.

Examples: VTOL aircraft and D.C. motor.

The Coupled LMIs Approach to the Problem of c-Suboptimal H Infinity Feedback Design (sketch). 

The Problem of Asymptotic Tracking and Disturbance Rejection. The Case of Full Information and Francis’ Equations. The Case of Measurement Feedback: Steady-State Analysis. The Case of Measurement Feedback: Construction of a Controller. Robust Output Regulation. The Special Case in Which m = p . The Case of SISO Systems. Internal Model Adaptation.