3. H synthesis∞ in continuous time

3.1 Problem formulation H∞

To formulate the synthesis problem H _∞ , the process model (7) is separated into seven transfer functions, corresponding respectively to pure inertia (denoted inert in figure 10 ) and the six soft modes (mod 1 to mod 6). Since the output must be servo-controlled to a zero reference, two main disturbances b and d have been considered, placed respectively at the process input and output.

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