Mode-controllability matrices of multivariable linear systems incorporating integral feedback

Mode-controllability matrices of multivariable linear systems incorporating integral feedback

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Explicit expressions are derived for the mode-controllability matrices of linear systems incorporating integral feedback. These expressions greatly facilitate design, since they exhibit very clearly the mode-controllability characteristics of such systems; in addition, simple analysis of these expressions confirms the results concerning the controllability of systems of this class previously obtained by Porter and Power using the properties of system-controllability matrices.


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