Minimum entropy static output-feedback control with an H_∞-norm performance bound

The problem of designing static output-feedback controllers is considered. The controller is required to minimize the closed-loop entropy (at s = ∞) and to satisfy a prescribed H_∞-norm bound. The design equations consist of a modified Riccati equation and a Lyapunov equation that are coupled via a projection. These equations are solved using a homotopy algorithm. The design procedure is illustrated by two examples. The first is a classical example that was solved in the literature using convex optimization techniques. The second example is one of designing again-scheduled normal acceleration loop for an airlaunched unmanned air vehicle.