Guanrong Chen & Charles K. Chui 
Discrete Hinfinity Optimization [PDF ebook] 
With Applications in Signal Processing and Control Systems

Discrete H Optimization is concerned with the study of H optimization for digital signal processing and discrete-time control systems. The first three chapters present the basic theory and standard methods in digital filtering and systems from the frequency-domain approach, followed by a discussion of the general theory of approximation in Hardy spaces. AAK theory is introduced, first for finite-rank operators and then more generally, before being extended to the multi-input/multi-output setting. This mathematically rigorous book is self-contained and suitable for self-study. The advanced mathematical results derived here are applicable to digital control systems and digital filtering.