References
The literature for \mathcal H_\infty control is essentially identical to the one we gave in the previous chapter on analysis of robustness. In particular, we stick to our primary textbook [1], in which the material is discussed in the forty-page Chapter 9 (but not the full chapter needs to be read as it also includes LQG and \mathcal H_2 methods, which we have already covered elsewhere).
Namely, the general \mathcal H_\infty optimal control problem is introduced in sections 9.3.4 and 9.3.6. The interleaved section 9.3.5 covers the mixed sensitivity design procedure. The loop-shaping method is thoroughly explained in 9.3.6. It also contains a detailed discussion of an extension to the 2DOF case, implementation in the observer-state-feedback form, and some sort of antiwindup technique.
While discussing the analysis of robustness in the previous chapter, we omitted a discussion of structured uncertainties using the structured singular values (SSU, mu, \mu). Similarly here we did not delve into the extension of that framework towards control synthesis. Purely because of time constraints. But should you find some time, have a look at section 8.12, which discusses the methodology called \mu synthesis.
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