Synthesis of multivariable linear systems with a given characteristic polynomial
Let the multivariable plant be described by \[ a(\lambda)y =b(\lambda)x +f\tag{1} \] where \(y\), \(f\in R^n\), \(x\in R^m\) and \(a(\lambda)\), \(b (\lambda)\) are polynomial matrices with dimensions \(n\times n\) and \(n\times m\), respectively. Combining equation 1 with the controller equation \[ \alpha (\lambda)x= \beta(\lambda)y, \tag{2} \] where \(\alpha(\lambda)\) and \(\beta (\lambda)\) are polynomial matrices of dimensions \(m\times m\) and \(m\times n\), respectively, one obtains a closed-loop system whose properties are determined by the matrix \[ Q(\lambda, \alpha,\beta)= \left[\begin{matrix} a(\lambda) & -b(\lambda) \\ -\beta(\lambda) & \alpha(\lambda) \end{matrix} \right]. \] In some design problems it is necessary to fulfill the condition \[ \det Q(\lambda, \alpha, \beta)= \Delta(\lambda) \tag{3} \] where \(\Delta(\lambda)\) is a given polynomial with prescribed properties. The basic problem, considered in the paper, is to determine the set of all controllers of the form (2) which satisfy the equation (3). The latter one is considered as a polynomial equation with respect to the matrix pair \(\{\alpha(\lambda), \beta(\lambda)\}\). A general characterization of the set of controller transfer function matrices satisfying (3) is given and several applications to stabilization problems for continuous-time and discrete-time systems are presented.
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