Fixed poles of simultaneous disturbance rejection and decoupling: A geometric approach (Q5926179)

Consider the linear system \(\dot x= Ax+ Bu+ Ed\), \(y= Cx\), where the output \(y\) is supposed to be decomposed into \(p\) blocks, \(y_1,\dots, y_p\). The matrix \(C\) is decomposed accordingly. Simultaneous disturbance rejection and decoupling (SDRDP) is to find a feedback, \(u= Fx+ \sum^p_{i=1} G_i v_i\) with \([G_1,\dots, G_p]\) regular, such that \(C(sI- A- BF)^{-1} [BG,E]= [\text{diag}(\varepsilon_1(s),\dots, \varepsilon_p(s)),0]\), where diag stands for block diagonal and where the \(\varepsilon_i\) are proper rational transfer function matrices having the same rank as \(C_i(sI- A)^{-1}B\). Under the assumption that this problem is solvable, and that \((A,[B, E])\) is controllable, the authors give a geometric and structural characterization of the fixed poles of the problem. The fixed poles are defined as those complex numbers (with multiplicity) that are eigenvalues of \(A+ BF\) for any \(F\) which solves the SDRPD. The geometric characterization of these fixed poles is in terms of the largest controllability subspaces contained in the kernel of \(C\), and \(C_i\), respectively. The structural characterization states that the fixed poles are the finite invariant zeros of \((A,B,C)\) which are not finite invariant zeros of the block subsystems \((A,[B, E],C_i)\) for all \(i\).