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+# A brief and practical introduction to H-infinity Control
+
+It is a practical introduction to H-infinity control for people who already know classical control (transfer functions, Bode plots, loop shaping).
+The emphasis is on *how* to use H-infinity synthesis to design controllers, rather than on the underlying theory.
+
+- Lecture notes (PDF): [index.pdf](index.pdf)
+- Video recording: [YouTube](https://www.youtube.com/watch?v=KdJsm_X8uks)
+
+## Content
+
+1. **Introduction to Model Based Control**: methodology, from classical to robust control, and the example system (a mass-spring-damper with an actuator) used throughout the lecture.
+2. **Classical Open Loop Shaping**: manual loop shaping and H-infinity loop shaping synthesis.
+3. **A first step into the H-infinity world**: the H-infinity norm, H-infinity synthesis, and the generalized plant.
+4. **Modern interpretation of control specifications**: closed-loop transfer functions (gang of four), the sensitivity function, and the module margin.
+5. **H-infinity shaping of closed-loop transfer functions**: design of weighting functions and their limitations.
+6. **Mixed-sensitivity H-infinity control**: a complete step-by-step design example (shaping of S, then GS, then T).
+
+Each chapter contains exercises, with hints and solutions.
+
+## Running the Matlab scripts
+
+### Requirements
+
+- Matlab R2019b or newer
+- Control System Toolbox
+- Robust Control Toolbox
+
+### Scripts
+
+There is one script per chapter, plus a helper function:
+
+| Script                                     | Chapter                                         |
+|--------------------------------------------|-------------------------------------------------|
+| `h_infinity_1_open_loop_shaping.m`         | Classical Open Loop Shaping                     |
+| `h_infinity_2_control_specifications.m`    | Modern Interpretation of Control Specifications |
+| `h_infinity_3_shaping_cl_tf.m`             | H-infinity Shaping of closed-loop transfer functions |
+| `h_infinity_4_mixed_sensitivity_example.m` | Mixed-Sensitivity H-infinity Control - Example  |
+