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THE ROBUST SERVOMECHANISM PROBLEM
MULTIVARIABLE SYSTEM REPRESENTATIONS
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algebraic algorithm Algorithm 3.1 asymptotically stable Automat chapter characteristic polynomial closed-loop poles coefficients computation consider constraints Contr corresponding decoupling zeros defined degree denoted determine diagonal dominant eigenvalues eigenvectors elements equation feedback system frequency full rank function matrix G(s gain given system IEEE IEEE Trans input inverse Nyquist array Kopt L-integral inverse linear multivariable systems linear systems loop LQR design McMillan form minimal basis multivariable control multivariable control systems non-zero nonsingular Note nth order right null space obtained open-loop system order right inverse output feedback parameters perturbations pole assignment polynomial matrix Proc proper transfer function rational function rational function matrix resulting closed-loop system Riccati equation robust controller Rosenbrock servomechanism shown in Fig solution solving state-feedback state-space form system A,B,C,D system described system matrix Theorem theory transfer function matrix transfer-function matrix G(s transformation transmission zeros unimodular matrix values variable vector W.M. Wonham x(tQ