ACC Benchmark plant additive error additive error additive error all-pass phase matrix augmented plant Balanced model truncation balancmr Schur method schurmr square root method Balanced stochastic truncation BST bstmr balancmr Bamieh, B.A. bilinear transform, frequency continuous to continuous pole-shifting transform continuous to discrete backward rectangular forward rectangular shifted Tustin general bilinear reverse transform bisection algorithm Chiang, R. Y. bilinear pole shifting cmsclsyn 10-39 complementary sensitivity complementary sensitivity T conic-sector crossover frequency c design goals crossover performance roll-off stability robustness disturbance attenuation Doyle, J. C. state-space H D-scalings automatic prefitting fitmag 10-89 fitmaglp 10-89 forbidden regions Franklin, G. F. fundamental limits right-half-plane poles right-half-plane zeros gain reduction tolerance gain/phase margins MIMO system gap metric genphase 10-89 Glover, K. loop shaping state-space H2 H H loop shaping mixed-sensitivity mixsyn norm Sampled-data H -norm H optimal controller H Control performance objectives H2 norm H2 control synthesis mixed-sensitivity h2syn 10-101 Hankel Minimum Degree Approximation Hankel minimum degree approximation hankelmr MDA Zeroth Order Hankel MDA Hankel singular value Hankel singular value Hankel singular value Hankel singular value hankelsv Hankel singular value based model reduction reduce Hankel singular values Hankel singular values Hankel singular values hankel singular values NCF HiMAT aircraft model imp2ss -iteration Le,V. X. linear matrix inequalities LMI solvers LMI solvers loop shaping loopsyn loop transfer function matrix loop-shaping synthesis loopsyn H optimal method LTR loop transfer recovery method see also mixed-sensitivity loopsyn LQG loop tranfer-function recovery. See ltrsyn LQG optimal control LTR control synthesis. See ltrsyn ltrsyn magfit 10-89 max entropy McFarlane, D. C., mfilter 10-198 Mixed H /H2 lcontroller synthesis lcontroller synthesis mixed-sensitivity mixed-sensitivity synthesis H H2 plant augmentation for mixsyn mktito Modal form realization modreal model reduction controller order reduction Monte Carlo random sample multiplicative error bound multiplicative uncertainty multivariable margins multivariable margins ncfmargin ncfsyn norm H H2 normalized comprime factor (NCF) Normalized coprime factor Left Compie Factorization Right Coprime Facotrization Normalized coprme factor ncfmr Normallized coprime factor balanced model truncation norms performance perturbation additive multiplicative plant augmentation proper system relative error robustness of stability robustness analysis Monte Carlo worst case roll-off Safonov, M. G. imaginy axis zeros H return difference matrix stabiltiy and robustness sdhfsyn sectf sector bilinear transformation sensitivity sensitivity S singular values properties of Slow and fadt modes decomposition slowfast Slow and fast modes decomposition Slow and fast modes decomposition slow and fast modes decomposition slow and fast modes decomposition slowfast spectral factor square root method squaring-down prefilter Stable and antistable projection stabproj stable and antistable projections stabproj SVD system realization System realization TITO (two-input-two-output) system uncertain LTI system USS object weighted mixed-sensitivity worst-case peak gain Zames, G. Zhou, K.