Geometric conditions for generic structure of multivariable root-loci (Q799622)

The paper investigates in particular the characteristic of the infinite zeros of multivariable root-loci associated with multi-input-multi-output linear systems. The linear system is represented in its state-space description, i.e. involving the three different matrices: system-, input- , and measurement-matrix. It is assumed that each output signal is fed back to the input by the same scalar gain factor varying from zero to infinity, which is commonly an assumption in recent papers on this subject. The asymptotic directions of the infinite zeros are characterized by constrained eigenvalue problems using the properties of the inverse of the closed-loop system-matrix. Major assumptions (but without loss of generality) in the analysis are that the system is invertible with no pole or zero at the origin of the complex plane. The most important result from a practical point of view seems to be the representation of the first two matrices in a Laurent-series expansion of the closed-loop system-matrix with respect to the inverse feedback-gain. Both matrices determine the asymptotic behaviour of the infinite zeros. Whereas one matrix can be expressed by the three matrices of the linear system, the other matrix can be computed via the system-matrix and complete annihilators, the right one of the measurement-matrix and the left one of the input-matrix. The multivariable root locus has been a rich source of interesting research problems. The ultimate value of the multivariable root locus as a design tool, however, has yet to be determined.