You have a semicircle above the $x$-axis defined by:
$$f(x):=\sqrt{16-x^2}$$
Let $O=(0,0)$ be the center of the semicircle $f$. To draw a line tangent to $f$, connect find the midpoint of $OP$, which is $M_{OP}=\left(0,\frac h2\right)$. Now, draw a circle centered at $M_{OP}$ with $r=h/2$. Now we defined the function:
$$g(x):=\frac{1}{2} \left(\sqrt{h^2-4 x^2}+h\right)$$
Now the points where $f(x)=g(x)$ are the points of tangency, for which we have:
$$\left(-\frac{4 \sqrt{h^2-16}}{h},\frac{16}{h}\right),\left(\frac{4 \sqrt{h^2-16}}{h},\frac{16}{h}\right)$$
Now, write the functions for the lines tangent to $f$:
$$h_1(x):=\frac{1}{4} \sqrt{h^2-16} x+h\\
h_2(x):=-\frac{1}{4} \sqrt{h^2-16} x+h$$
Now $h_1$ and $h_2$ intersect the $x$-axis (i.e. their zeroes) at:
$$h_1:\left\{x\to -\frac{4 h}{\sqrt{h^2-16}}\right\}\\
h_2:\left\{x\to \frac{4 h}{\sqrt{h^2-16}}\right\}$$
Solving for the distance between these two points (i.e. the length of the base of the triangle), we get:
$$AB=\frac{8 h}{\sqrt{h^2-16}}$$
The height of $\triangle PAB$ is $h$, therefore the area of $\triangle PAB$ is:
$$A_{\triangle PAB}=\frac12\cdot AB\cdot h=\frac12 \cdot \frac{8 h}{\sqrt{h^2-16}} \cdot h = \frac{4 h^2}{\sqrt{h^2-16}}$$
To minimize $A_{\triangle PAB}$, simply take the derivative and set it to $0$:
$$\left(\frac{4 h^2}{\sqrt{h^2-16}}\right)'=0\\
\frac{4 h \left(h^2-32\right)}{\left(h^2-16\right)^{3/2}}=0\\
4 h ( h^2-32 )=0$$
Therefore, you have the following solutions:
$$\left\{\{h\to 0\},\left\{h\to -4 \sqrt{2}\right\},\left\{h\to 4 \sqrt{2}\right\}\right\}$$
We know that $\angle A=\angle B$ because $PAB$ is isosceles. Then angle $A$ is $\arctan m_1$, where $m_1$ is the slope of the line passing through $P$ and $A$. Therefore:
$$\angle A=\arctan \left(\frac{\sqrt{h^2-16}}{4}\right)$$
Since we have $h=\pm4\sqrt2$ as a solution, then:
$$\angle A=\arctan-1=\frac\pi4 \iff \bbox[10px, border:2px black solid]{\therefore P=\frac\pi2}$$