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Abstract. This paper presents an approach to design a state-feedback robust control law for uncertain Lagrange's systems such that the designed closed-loop systems have the properties of robust pole-clustering within a vertical strip and disturbance rejection with an Ha-norm constraint. This approach is based on solving an algebraic Riccati equation with the adjustable scalars and prespecified parameters. The uncertainties considered include both unstructured and structured uncertainties in the system and the input matrices. Also, a constraint is established to verify that the proposed robust LQRs preserve//2 optimality with respect to a specific quadratic cost function.

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