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An H∞ controller design based on the butterworth filter conversion

This paper describes and shows an H∞ controller design based on the Butterworth filter conversion. The proposed method refers to the conception of a normalized plant. By converting the control target to a Butterworth filter, it is not necessary to redesign the controller depending on the control target. Simulation and experimental results show the proposed method to be robust against an external disturbance and a modeling error.