Sum of Roots Characterization for H₂ Control Performance Limitations

Abstract

This paper provides new expressions of H₂ control performance limits achievable by feedback for SISO continuous-time systems. The result for the regulation problem is expressed in a simple manner in terms of two sums of roots obtained from the plant and the associated polynomial spectral factorization. We show that it can connect the two existing solutions, namely the Riccati solution and the analytical expression with an integral form. The similar result for the tracking problem is also derived using the reciprocal transform. Finally parametric optimization making use of the derived expression by means of symbolic computation is demonstrated to confirm the validity of the sum of roots characterization.