An optimal preview controller based on the discrete-time H control is presented. The preview controller is synthesized by considering the bounded unknown disturbances as well as pre-viewable commands and disturbances. The controller derivation procedure is analogous to the LQ-based scheme. The designed preview gain matrix has a similar structure as the LQ-based one. As the infinity norm γ of the transfer function matrix tends to ∞, the preview gains obtained by H control method approach to the gains by the LQR. The LQ-based preview gains are verified to be subsets of the H-based preview gains.

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