## Interactive Loop-Shaping Design of MIMO ControllersC. Barratt and S. Boyd
It is shown that many classical and singular value loop shaping problems are
closed-loop convex. Consequently, loop shaping problems can be solved by
efficient numerical methods. In particular, it can be determined whether or not
a compensator exists that satisfies a given set of loop shaping specifications.
Loop shaping design problems that are formulated as classical optimization
problems, |