Despite many years experience I had to 'Google' this for an idea of what might be involved.....here's 2 ideas off the 'net:
"Abstract: In this paper output unreachability under input saturation phenomenon is studied: under a large disturbance or setpoint change, the process output may never reach the set point even when the manipulated variable has driven to saturation. The process output can be brought back to the set point only by activating an auxiliary manipulated variable"
"A Genetic Algorithm (GA) based approach for design of HÂ¿ passive control for a flexible structure is presented. The flexible structure has six degrees of freedom and the control system is designed by using the HÂ¿-control theory. The passive control is to minimize the HÂ¿-norm from closed loop transfer function of the system which implies suppressing the magnitude peaks vibration of the frequency response. Parameters optimization of flexible structure system becomes an HÂ¿-output feedback problem. This problem is transformed to Bilinear Matrix Inequality problem and then it is solved by using GA."
All I can say is - Good Luck !