Fixed poles of disturbance rejection by dynamic measurement feedback: A geometric approach (Q5926171)

Disturbance rejection by dynamic measurement feedback (DRMF) means that one wants to find a system \(\dot w= Nw+ My\), \(u= Lw+ Ky\) such that when applying it to the system \(\dot x= Ax+ Bu+ Dh\), \(y= Ex\), \(z=Fx\), the disturbance \(h\) has no influence on the output \(z\). Under the assumption that this problem is solvable, and that \((A,[B, D])\) is controllable and \(([C^T, E^T]^T,A)\) is observable, the authors solve questions related to the fixed poles of the problem. The fixed poles are defined as those complex numbers (with multiplicity) that are always eigenvalues of the state matrix of the closed loop system when the DRMF is solved. The authors show that these fixed poles exist, and they give a geometric and invariant-zero characterization of them. Using these results they prove that there exists an internally stabilizing solution to the DRMF if and only if the fixed poles are stable.