Data-driven H control of constrained systems: An application to bilateral teleoperation system.

A novel, identification-free, data-driven (DD) H control method is presented for discrete-time (DT) linear time-invariant (LTI) systems under physical limitations and norm-bounded disturbances. The presented approach does not demand information on system matrices or any measurements of disturbance affecting the system. The only information needed to develop a static state-feedback (SF) controller is the bounds on disturbances, states and control signals.