Robust and Optimal Control by Mi-Ching Tsai & Da-Wei Gu

Author:Mi-Ching Tsai & Da-Wei Gu
Language: eng
Format: epub
Publisher: Springer London, London

(6.71)

On the other hand, the two-port SCC plant can be transformed into the description of CSDl ⇄ CSDr, as illustrated in Fig. 6.8. As mentioned before, multiplication by does not change the overall transfer function from w to z.

Fig. 6.8Multiplying by at left terminal

Then, a left coprime factorization can be found by applying Lemma 6.3 such that

(6.72)

Then, one has

(6.73)

(6.74)

(6.75)

where and are nonsingular and is chosen such that A + H z C 1 + H y C 2 is Hurwitz. The stable left inverse that satisfies is given by

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