3.1.3. Weighting *W*R

The weighting *W*R is associated with the additive uncertainties [24]. Typically, the weighting *W*R is introduced to satisfy the premises of the *H*∞ control theory. While it is seen in Section 2, *W*R is the weighting of the controller sensitivity *R*, which is related to the command sent to the servo valve in RTHS. A high controller gain will destabilize the system due to measurement noise. Hence, to suppress the maximum magnitude of the controller, the weighting *W*R can be selected as a small constant. The weighting *W*R can be eliminated.
