Convex Inner Approximation for Mixed $H_2$ / $H_\infty$ Control With Application to a 2-DoF Flexure-Based Nanopositioning System

This article presents a convex inner approximation approach for mixed ${H}_2$/${H}_\infty$ control of a flexure-based nanopositioning system. Generally for such positioning systems, the inevitable existence of model mismatch renders it often times difficult-...