Text this: Finite-frequency H∞ control for offshore platforms subject to parametric model uncertainty and practical hard constraints

__    __    ______    _____      ___       _____  
\ \\ / //  /_   _//  / ____||   / _ \\    / ___// 
 \ \/ //    -| ||-  / //---`'  | / \ ||   \___ \\ 
  \  //     _| ||_  \ \\___    | \_/ ||   /    // 
   \//     /_____//  \_____||   \___//   /____//  
    `      `-----`    `----`    `---`   `-----`