Gait Tracking Control of Quadruped Robot Using Differential Evolution Based Structure Specified Mixed Sensitivity<mml:math xmlns:mml="http://www.w3.org/1998/Math/MathML" id="M1"><mml:mrow><mml:msub><mml:mrow><mml:mi>H</mml:mi></mml:mrow><mml:mrow><mml:mi mathvariant="bold-italic">∞</mml:mi></mml:mrow></mml:msub></mml:mrow></mml:math>Robust Control
Journal of control science and engineering