\[ J = \sum_{i=1}^N w_i J_i, \quad \text{Subject to: } \; \|T(s)\|_\infty < \gamma, \; \forall s \in \mathbb{C}_+ \] \[ J_i = \int_0^\infty \|x(t) - x_{ref}(t)\|^2 dt + \int_0^\infty \|u(t)\|^2 dt \] \[ \text{where } T(s) \text{ is the transfer function of the system.} \]