Grassmann invariants, almost zeros and the determinantal zero, pole assignment problems of linear multivariable systems
作者:
N. KARCANIAS,
C. GIANNAKOPOULOS,
期刊:
International Journal of Control
(Taylor Available online 1984)
卷期:
Volume 40,
issue 4
页码: 673-698
ISSN:0020-7179
年代: 1984
DOI:10.1080/00207178408933300
出版商: Taylor & Francis Group
数据来源: Taylor
摘要:
The strucxpects of the rationxr spacesxc,xfwherexcis the columxof the transfer function matrix G(s) andxf, is the space associated with right matrix fracxcriptions of G(s), are investigated. Forxfgcanonixqb;s] Grassmgesentaxg(xc) andg(xf) arxd, and are shownxmplete basis free invariants forxcandxfrespectively. The almost zeros (AZ) and almost decoupling zeros (ADZ) of G(s)gdefinexlocal minima of a normgn defixg(xc) andg(xf) respectively. The computation, and certain aspects of the distribution in the complex plane of AZs and ADZs are examined. The role of AZs and ADZs in the determinantal zero and pole assignment problems respectively is examined next. Two important families of systems are defined : the strongly zero non-assignable (SZNA) and the strongly pole non-assignable (SPNA) systems. For SZNA and SPNA systems minimal radius discs Deme[z,Reme(z)] and Demf[zb centred at an AZ and ADZ respectively are defined. It is shown that Deme[Reme(z)] contains at least one zero of all systems derived from G(s) under squaring down and Demf[z,Remf(z)] contains at least one pole of all systems derived from G(s) under constant output feedback. A criterion for determining upper bounds forReme(z) andRemf(z)is given. These results show that AZs act as ‘ nearly fixed ’ zeros under squaring down, and that ADZs act as ‘ nearly fixed ’ closed-loop poles under constant output feedback. Systems which under constant post and feedback compensation have their zeros and poles, respectively, ‘ trapped ’ in the right-half complex plane are examined and a criterion for testing such properties is given. This work reveals the AZs and ADZs as ‘ strong ’ invariants characterizing families of systems derived from G(s) and not just the particular minimal system defined by G(s).
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