References

Control design for systems with structured uncertainties relies on the concept of a structured singular value (SSU, mu, \mu), hence the name \mu synthesis. It is covered in [1, Sec. 8.12].

The \mathcal H_\infty optimization-based loop-shaping method is thoroughly explained in [1, Sec. 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 called self-conditioning.

References

[1]

S. Skogestad and I. Postlethwaite, Multivariable Feedback Control: Analysis and Design, 2nd ed. Wiley, 2005. Available: https://folk.ntnu.no/skoge/book/