Coprime Factor Reduction of H∞ Controllers

We consider the efficient solution of the coprime factorization based H∞ controller approximation problems by using frequency-weighted balancing related model reduction approaches. It is shown that for a class of frequency-weighted performance preserving coprime factor reduction as well as for a relative error coprime factor reduction method, the computation of the frequency-weighted controllability and observability grammians can be done by solving Lyapunov equations of the order of the controller. The new approach can be used in conjunction with accuracy enhancing square-root and balancing-free techniques developed for the balancing related coprime factors based model reduction.