H 1 Sampled - Data Synthesis and Related Numerical

In this paper we present a new, compact derivation of state-space formulae for the so-called discretisation-based solution of the H 1 sampled-data control problem. Our approach is based on the established technique of continuous time-lifting, which is used to isometri-cally map the continuous-time, linear, periodically time-varying, sampled-data problem to a discrete-time, linear, time-invariant problem. State-space formulae are derived for the equivalent , discrete-time problem by solving a set of two-point, boundary-value problems. The formulae accommodate a direct feed-through term from the disturbance inputs to the controlled outputs of the original plant and are simple, requiring the computation of only a single matrix exponential. It is also shown that the resultant formulae can be easily restructured to give a numerically robust algorithm for computing the state-space matrices.