  The negative imaginary (NI) systems theory has attracted interests due to the
robustness properties of feedback interconnected NI systems. However, a full
output optimal controller-synthesis methodology, for such class of systems, is
yet to exist. In order to develop a solution towards this problem, we first
develop a methodology to find the nearest NI system to a non NI system. This
later problem stated as follows: for any linear time invariant (LTI) system
defined by the state space matrices $(A, B, C, D)$, find the nearest NI system,
with the state space matrices $(A+\Delta_A,B+\Delta_B,C+\Delta_C,D+\Delta_D)$,
such that the norm of $(\Delta_A,\Delta_B,\Delta_C,\Delta_D)$ is minimized.
Then, this methodology will be used to find the nearest optimal controller for
a given NI plant. In other words, for a given NI system, an optimal control
methodology, such as LQG, is used to design an optimal controller that satisfy
a particular performance measure. Then, the developed methodology of finding
the nearest NI system is used, as a near-optimal control synthesis methodology,
to find the nearest NI system to the designed optimal controller. Hence, the
synthesized controller satisfy the NI property and therefore guarantee a robust
feedback loop with the negative imaginary system under control.
