  This paper presents a general framework for the design of linear controllers
for linear systems subject to time-domain constraints. The design framework
exploits sums-of-squares techniques to incorporate the time-domain constraints
on closed-loop signals and leads to conditions in terms of linear matrix
inequalities (LMIs). This control design framework offers, in addition to
constraint satisfaction, also the possibility of including an optimization
objective that can be used to minimize steady state (tracking) errors, to
decrease the settling time, to reduce overshoot and so on. The effectiveness of
the framework is shown via a numerical example.
