H∞ control system design attenuating initial state uncertainties: evaluation by a magnetic suspension system

This paper deals with an H1 control attenuating initial-state uncertainties, and its application to a magnetic suspension system. An H1 control problem, which treats a mixed attenuation of disturbance and initial-state uncertainty for linear time-invariant systems in the in(cid:12)nite-horizon case, is examined. The mixed attenuation supplies H1 controls with good transients or assures H1 controls of robustness against initial-state uncertainty. We apply this method to a magnetic suspension system, and evaluate attenuation property of the proposed disturbance and initial-state uncertainty via simulations and experiments.