Finite-Horizon H-Infinity Control for Time-Varying State-Saturated Systems under Stochastic Communication Protocol

Algorithm 1

H_∞ controller design algorithm on finite time domain [0, N].

	Step 1. Set , for all ; given disturbance suppression level positive definite matrices , and are appropriate positive definite symmetric matrices.
	Step 2. Calculate and . If and , go to the next step, otherwise go to Step 6.
	Step 3. and were calculated, and controller gain matrix was solved according to equation (29). If , go to the next step, otherwise go to Step6.
	Step 4. and were obtained by solving Riccati-like difference equation (27), and then, and were obtained. If and , go to the next step, otherwise go to Step 6.
	Step 5. If , make and go to Step2; otherwise, judge whether is established; then, the calculation terminates; if not, then proceed to the next step.
	Step 6. The algorithm is unsolvable and the calculation is terminated.