(eng): A general H_infinity controller design technique is pro-posed for scalar linear systems, based on properties of positive polynomial matrices. The order of the controller is fixed from the outset, independently of the order of the plant and weighting functions. A sufficient LMI condition is used to overcome non-convexity of the original design problem.

(cze): Obecna metoda navrhu H nekonecno regulatoru zalozena na LMI a pozitivních maticich. Rad regulatoru je fixni. Postacitelna LMI podminka je pouzita misto puvodne nekonvexniho problemu