Robust and Optimal Control

A Two-port Framework Approach

Chain Scattering Descriptions

1
Robust and Optimal Control - A Two-port Framework Approach

A Standard Formulation for Control Problems ( LFTl )

Recall the general feedback control problem z w

 P11 P12 
 P11 P12  y P P  u
P u  Ky  21 22 
P22  z z
 P21 P11  |u0 P12  |w0
z  w  P11 P12   w w u
 P u   P
 y
     21 P22   u  y
K
P21  |u0 y
 z  P11w  P12u w P22  |w0
u
y  P21w  P22u  P21w  P22 Ky
  I  P22 K  y  P21w
LFTl ( P, K ) : P11  P12 K  I  P22 K  P21
1

 y   I  P22 K  P21w
1

z  P11w  P12u  P11w  P12 K  I  P22 K  P21 w

1

=  P11  P12 K  I  P22 K  P21  w

1
 
 LFTl ( P, K ) w
2
 Robust and Optimal Control - A Two-port Framework Approach

Right Chain Scattering Description (CSDr)

z u
G K  z   G11 G12   u 
w y
 w   G
   21 G22   y  u  Ky
G G12   K 
  11 y
A two-port right CSD matrix G to represent the G21 G22   I 

 z  G G12   u   G K  G12 
feedback system is given by     11   11 y
  G
 21 K  G22 
 w G21 G22   y 
w  G21 K  G22  y  y  G21 K  G22  w
1

z z
G11  | y 0 G12  |u 0  z  G11 K  G12 G21 K  G22  w
1

u y
: CSDr (G , K ) w
w w
G21  | y 0 G22  |u 0
u y G22 should be square above.
3
Robust and Optimal Control - A Two-port Framework Approach

Transformation from LFT-Matrix to right CSD-matrix

LFT-Matrix to Right CSD-matrix

z  P11 P12  w
Assume that P21 is invertible P
y  21 P22  u
 z   P11 P12   z   P11 P12 
 y  P  w  I 0   w
    21 P22   w  


 w  I 0   u  u   0 I   u  K
       
u   0 I   y   P21 P22 
G
z u
1
 w  0 I   u    P P 1
P  u 
1
 P12  P P P
1
PP 1

u   P P   y = 
21 22 21 11 21 22 11 21
   1 1  y K
   21 22     I 0   y w  P P21 22 P21 

1
 z   P11 P12   0 I   u   P12  P11 P211 P22 P11 P211   u  u 
 w   I 0   P21    
P22   y    P211 P22 1   
G 
   P21   y   y
 P12  P11 P211 P22 P11 P211 
LFTl ( P,K)  CSDr (G, K ) G 1 
  P21 P22 P211 
4
 Robust and Optimal Control - A Two-port Framework Approach

Left Chain Scattering Description (CSDl)

u z  u   G11 G12   z 
 y    
   21 G G
 ,
w
22   
uK y
K y G w K 
I  K    y  0
I 
 G11 G12   z 
0  I K   
A left two-port CSD matrix G to represent the 
G21 G22   w
z
 u   G G12   z   G
11  KG21 G12  KG22   
feedback system is given by     11    w
 y  G21 G22   w

0  G   
11  KG21 z  G12  KG22 w

u u G KG  z   G  KG  w
11 21 12 22

G11  |w0 
G12  |z 0  z   G  KG  G  KG  w
1

z w 11 21 12 22

: CSDl (G , K ) w
 y y
G21  |w0 
G22  |z 0
z w G11 here should be square
5
Robust and Optimal Control - A Two-port Framework Approach

Transformation from LFT-Matrix to Left CSD-matrix Assume P12 is invertible.

u

y

 z   P11 P12   z   P11 P12 

 y  P P      I 0   
   21 22   

0   u 
  
   I u   0 I   u 
       
u   0 I 
 y   P21 P22 
1
u   0 I     0 I   P11 P12   z   0 I  0 I z
 y  P 
P22   u   P21 P22   I

0     P21 P22   P12 1  P12 1 P11   
   21
 P12 1  P12 1 P11   z    z 
   G 
 P22 P12
1
P21  P22 P12 P11   
1
 

 P 1
 P12 1P11 
LFTl ( P,K)  CSDl (G , K ) G   12
1 
 P22 P12 P21  P22 P12 1P11 
6
Robust and Optimal Control - A Two-port Framework Approach

Cascaded connection of two Chain Scattering Description matrices

z1  CSDr (G, K ) w1 z2  CSDl (G , K ) w2

z1 u1 z2 u2 u1 z1 u2 z2

w1 G1 y1 w2 G2 y2 K K y1 G1 w1 y2 G 2 w2

G G

 z1 

 u1 

 u2  K  K 
 G1G2   y2  G   y2
 u1    z1 
 G  G   z2   G  z2 
G
w  G1  G G
1 2  y  1  1 2   
 1  y1   y2  I  I   1  w1   w2   w2 
 u2  CSDl (G1 , K )    z2 
z1  CSDr (G1 , CSDr (G2 , K )) w1 y   w
 1  G2 
 2  I   w2 
 CSDr (G1G2 , K ) w1  CSDr (G , K ) w1
CSDl (G1 , K )  z 
0   I CSDl (G1 , K )    w1   I CSDl (G1 , K )  G 2  2 
 I   w2 
(1 CSDr (G1 , CSDr (G2 , K ))  CSDr (G1G2 , K )
) z2  CSDl (G 2 , CSDl (G1 , K )) w2  CSDl (G , K ) w2
(2) CSDr ( I , K )  K 
(1) CSDl (G2 , CSDl (G1 , K ))  CSDl (G1G2 , K )

(2) CSDl ( I , K )  K
7
Robust and Optimal Control - A Two-port Framework Approach

Example
Given a DC motor system shown below, apply the SCC LFT-matrix to right-CSD
method for the transfer function.

By cutting off the connection as shown below 

 P11 P12  V
i P P22 
T
V 1 i 1   21
Kt T
－ Ls  R Js  B
K
Kb

An LFT-matrix Ｐ can be obtained as


 1   LFTl  P, K   LFTl  P, K t 
V
 0 Js  B 
P( s)    Kt
Kb  
 1 
1
 JLs 2   JR  LB  s  BR  K t K b
 Ls  R Ls  R Js  B 
K  Kt 15
Robust and Optimal Control - A Two-port Framework Approach

Transformation from LFT-Matrix to right CSD-matrix

LFT-Matrix to Right CSD-matrix

z  P11 P12  w
Assume that P21 is invertible P
y  21 P22  u
 z   P11 P12   z   P11 P12 
 y  P  w  I 0   w
    21 P22   w  


 w  I 0   u  u   0 I   u  K
       
u   0 I   y   P21 P22 
G
z u
1
 w  0 I   u   z   P11 P12   w  P12  P P P
1
PP 1


u  P P   y and  w   I 0   u  
11 21 22 11 21
 K
   21 22         w 1 1 y
 P P21 22 P21 

1
 z   P11 P12   0 I   u   P12  P11P211P22 P11P211   u  u 
 w   I 0   P21    
P22   y    P211P22 1   
 G 
   P21   y   y
 P12  P11P211P22 P11P211 
LFTl ( P,K)  CSDr (G, K ) G 1 
  P21 P22 P211 
9
 Robust and Optimal Control - A Two-port Framework Approach
 1 
 0 Js  B 
P( s)   
 1 1 Kb 
 
 Ls  R Ls  R Js  B 
 V
 P11 P12 
 T
K  Kt
i P P22 
T G i K
 21 V

   G11 G12  T 
K V   G  
   21 G22   i 
 1 
 1   1    0  V 
y   
0
Js  B    
0
Js  B  V    Js  B  代
 T
i  1  V   1    1 0   入
1 K b  V  0  V 

      
V   Ls  R Ls  R Js  B  T  T   0 1  T 
   1 0       0 1 
1
T    i  1 1 Kb  V   T 
 0    
1   Ls  R Ls  R Js  B  T   1 
1

Kb
  i 
 
 Ls  R Ls  R Js  B 

1  1 
 1  0 1  0
   0 T   Js  B  T  T 
V    Js  B   1 1 Kb 
      G i
  1        Kb
i   i  
 0   Ls  R Ls  R Js  B  Ls  R
 Js  B 

Improper!
10
Robust and Optimal Control - A Two-port Framework Approach

 1 
 Js  B 0 
G(s)   
 Kb Ls  R 
 T  Js  B 
   G11 G12  T  K  Kt
V G i K V   G G22   i 
   21


 CSDr G, K   G11K  G12 G21K  G22 
1

V
1
 Kt  K b 
  0   K t  ( Ls  R ) 
 Js  B  Js  B 
 Kt   Js  B 
  
 Js  B  ( Js  B )  Ls  R  t b
 K K
Kt

JLs 2   JR  LB  s  BR  K t K b
11
Robust and Optimal Control - A Two-port Framework Approach

Example: K  1
y u
V 1 1 
Kt
－ Ls  R Js  B
Kb

  Kt 
V
 0
 Js  B  Ls  R  
 P11 P12 
y P u
P22 
 21 P( s)   
 Kt Kb 
1  Js  B Ls  R 
K
   
 Kt 
  Js  B  Ls  R  0 
 u
G  Proper!
G K  Kt Kb 
V y  Js  B Ls  R 1 
     12
Robust and Optimal Control - A Two-port Framework Approach

Example: Improper CSD-matrix formulation

1 1 y u
V Kt 
－ Ls  R Js  B
Kb

 V
y
 P11 P12 
u
 0 1 
P P22 
 21 P( s)   Kt Kt Kb 
  
K
  Js  B  Ls  R   Js  B  Ls  R  
Improper!
w u 1 0 
G K G 
JLs 2  BLs  BRs  BR 
V y  Kb
 Kt 
13
Robust and Optimal Control - A Two-port Framework Approach

w u
1 0 
G   
G K
V y JLs 2  BLs  BRs  BR  K b K t 
Kb
 Kt 


 CSDr G , K   G11K  G12 G21K  G22 
1

V
1
 JLs 2  LBs  JRs  BR  K b K t 
 1  0   K b  1  
 K t 
1
 JLs 2  ( JR  LB ) s  BR  K b K t 
  Kb  
 K t 
Kt

JLs 2   JR  LB  s  BR  K t K b
Robust and Optimal Control - A Two-port Framework Approach

Transformation from LFT-Matrix to Left CSD-matrix Assume P12 is not invertible.

  P11 P12  V G
P u 
P22 
y  21 u   P12 1  P12 1 P11 
K y  1 1  V
P P
 22 12 P21  P P
22 12 P11 
K

   P11 P12     P11 P12 

 y  P P  V V   I 0  V 
   21 22   

0   u 
  
V   I u   0 I   u 
       
u   0 I 
 y   P21 P22 
1
u   0 I  V   0 I   P11 P12   
 y  P    
P22   u   P21 P22   I 0  V 
   21
 P12 1  P12 1P11      
 1   G 
 P22 P12 P21  P22 P12 1P11  V  V 

 P 1
 P12 1P11 
LFTl ( P,K)  CSDl (G , K ) G   12
1 
 P22 P12 P21  P22 P12 1P11 
15
Robust and Optimal Control - A Two-port Framework Approach

Example
Recall the DC motor system. Now apply the SCC LFT-matrix to left-CSD method
for the transfer function.
By cutting off the connection as shown below

1 1  V
V i Kt T   P11 P12 
P T
P22 
Ls  R i
－ Js  B  21

Kb
K

The LFT-matrix P can be obtained as

 1  
 LFTl  P, K 
 0 Js  B  V
P( s)   
 1 1 Kb  Kt
  
 Ls  R Ls  R Js  B  JLs 2   JR  LB  s  BR  K t K b

K  Kt
Robust and Optimal Control - A Two-port Framework Approach
 1 
 0 Js  B 
Example P( s)  
 1
 Ls  R

1

Kb 


Ls  R Js  B 

 V T 
K  Kt
 P11 P12 
P T G
P22 
i K
i V
 21

T   G11 G12   
K  i      
  G21 G22  V  1
 1  
V   0  
 0   0  Js  B   
1 1
        T   
y i  1
Js  B
 V   1
Js  B
   1

 V
0   
  
Kb  V
 
0  V 
    T 
V   Ls  R ( Ls  R )( Js  B )  T  T   0 1
T   1  i  1 
T  
 0 1 
   0     Kb   V 
 0   Ls  R

( Ls  R )( Js  B ) 
i    1 
Kb
 代
T 
1  
 Ls  R ( Ls  R )( Js  B )  入

1
 0 1  1   Js  B 0 
T    0        
i   1 Kb Js  B      Kb 1   G 
     V     V  V 
 Ls  R ( Ls  R )( Js  B )  1 0   Ls  R Ls  R 

Improper! 17
Robust and Optimal Control - A Two-port Framework Approach

Example
T 
K i G V
 Js  B 0 
 ( s)   K
G 1 
T   G11 G12     b

 i        Ls  R Ls  R 
  G21 G22  V 
K  Kt


  G 
1
 CSDl (G , K )   G11  KG21 12  KG22
V
1
  Kb     1 
    Js  B   K t      0   Kt  
  Ls  R     Ls  R 
Kt

JLs 2   JR  LB  s  BR  K t K b

18
Robust and Optimal Control - A Two-port Framework Approach

Furthermore, if
1
 0 I   P11 P12   P12 1  P12 1 P11 
G  
 P21 P22   I 0  P P
 22 12
1
P21  P22 P12 1 P11 
1
 P11 P12   0 I   P12  P11 P211 P22 P11 P211 
G  
I 0   P21 P22    P 1
21 P22 P211 
then one can have
1 1
P P12   0 I  0 I   P11 P12 
G G   11 I
I 0   P21 P22   P21 P22   I 0 


GG 1

LFTl ( P, K )  CSDr G, K   CSDl G 1 , K 

19
Robust and Optimal Control - A Two-port Framework Approach

Example: CSD-matrix formulations

 V
 P11 P12 
y u y P u
V 1 1   21 P22 
Kt
－ Ls  R Js  B
K
Kb
w u  1 
K
 0 Js  B 
G P( s)  
V y 
 1 1 Kb 
 
u   Ls  R Ls  R Js  B 
K y G V

 1 
 Js  B 0  0
 ( s)   K
G 1 
 Js  B
G (s)  

 G G  I
 b
  Kb Ls  R 
 Ls  R Ls  R   Js  B 
20
Robust and Optimal Control - A Two-port Framework Approach

Connection of a right-CSD associated with a left-CSD CSDr  CSDl

z a
z a  u   a
from    G b  ,  y   G b  w
G
b
 w      
z a  CSDl G , K
one has    G    G 
  b u a

K G
 w b   I  y b

Connection of a left-CSD associated with a right-CSD CSDl  CSDr

a
a    z  u 
z

from    G    G   b G w
b   w  y
a u

CSDr G , K   z b G y K
one has   b  G  w
 I   
21
 PROPERTY
Robust and Optimal Control - A Two-port Framework Approach

Connection of a right-CSD associated with a left-CSD

 
CSDr G, CSDl G, K   CSD GM , CSD (GM , K )  where M is invertable
r l

z a

G M
w b

u a

K y G M
b

Connection of a left-CSD associated with a right-CSD

 
CSDl G, CSDr G , K   CSDl M  
G , CSDr ( MG , K ) where M is invertable

a z

M b G w

a u

M b G y K
22
Robust and Optimal Control - A Two-port Framework Approach


CSDr G1 , CSDl (G 2 , K ) 
 1   1 0 
 0
Given G1  s  2 
G2   1 1  a
   z
 0 1  ( s  2)( s  1) s  1 
G1
w b
Let K  1
1
   u a
1 1  s2
CSDl (G 2 , K )   1   0  
  s  2  ( s  1)   
(s  1)  s 2  3s  3 2
G
   K y b


CSDr G1 , CSDl (G 2 , K ) 
1
 s  2   1  s  2    s  2  
CSDr  G1 , 2 
     0 0 2   1
 s  3s  3    (s  2)   s 2  3s  3    s  3s  3  
1

s 2  3s  3
Robust and Optimal Control - A Two-port Framework Approach

Example:  
CSDr G1M , CSDl (G2 M , K )  CSDr G1 , CSDl (G2 , K )  
 1   1 0 
0 1
Given G1   s  2  2 
G  1 1  M I
  
 0 1   ( s  2)( s  1) s  1  s
 1   1  z a
 s ( s  2) 0  0 
 s
G1M    G2 M    w
G1
b
M
 1  1 1 
 0 s   s  s  2  ( s  1) s ( s  1) 
 u a
2
G M
K
Let K  1 y b

1
1 1   1  s2
CSDl (G 2 M , K )     1   0   2
s s  s  2  ( s  1)   s (s  1)  s  3s  3



CSDr G1M , CSDl (G 2 M , K ) 
1
 s  2   1  s  2    s  2  1 
CSDr  G1M , 2 
     0 0 2  
 s  3s  3    s (s 2)   s 2  3s  3    s  3s  3  s
1

s 2  3s  3 Multiplying any invertible M will not affect
the closed-loop transfer function.
Robust and Optimal Control - A Two-port Framework Approach

General formulation from LFT to CSD (Case 1)

A right-CSD associated with a left-CSD
z u
General case:  P12 P11 
neither P12 nor P21 is invertible. z  P11 P12  w

w 0
 I  w
P P22 
y  21 u
 z   P11 P12   w
 y  P
u u
   21 P22   u   I 0
K P P21 
K y w
 22
 z   P11 P12   z   P12 P11 
 y  P P  w  w  0 I  u
  21 22   
    
 w  I 0   u  u   I 0   w
       
u
   0 I  y P P
   22 21 

K   I 0  u  K   I 0  u  u 
y  P  0  I  K    y  I K    I  KP22  KP21   
I 
   22 P21   w I   P22 P21   w  w

u   I  KP22  KP21w
1
 z   P12 P11   u   P11  P12  I  KP22  KP21 
1

 w   0 
I   w 
w
   I 

 P P12     P12 P11   I 0 

z  LFTl   11 , K  w  CSDr , CS Dl  , K   w
  P21 P22     0
 I    P22 P21   25
Robust and Optimal Control - A Two-port Framework Approach

General case: from LFT to CSD (Case 2)

z z
A left-CSD associated with a right-CSD  I  P11 
z w y 0  P  w
 z   P11 P12   w  P11 P12   21 

 y  P
P P22 
P22   u 
y  21 u
   21 z u

0   I 0   z   P11 P12   w K
 P12 0
K
0  0 I   y    P
y P  I  y
P22   u 
 22
       21
z
0   I  P11  P12 0   w
 
0  0  P  P 
I  u  The representation is not unique.
   21 22
 
 y
z '  P12 Ky   P12 K  I  P22 K  y '
1
 I  P11   z   P12 0  u   z '  P 0  K   PK 
0  P   w   P  I   y       12    y   12 y  let
 21     22
 y '  P22  I   I    I  P K
22  P 0
, K)   P12 K  I  P22 K 
1
S  CSDr (  12 
 z ' S   I  P11   z   P22  I 
 y '   I  y   0  P   w 
     21   

z   P11  P12 K  I  P22 K  P21  w

1
S   I  P11   z 
0  I S    y '  I S    
 
I  0  P21   w
z  P P12     I  P11   P 0  
0  I  P11  SP21    z  LFTl   11  , K  w  CSDl   , CSDr   12 , K w
 w   P21 P22   
 0  P21    P22  I   
z
0  I ( P11  P12 K  I  P22 K  P21 )   
1
   w 26
Robust and Optimal Control - A Two-port Framework Approach

Example
Recall the same DC motor system, find the transfer function by the general
formulation.
z w
w 1 y 1
Kt u  P11
z P12 
y P u
－ Ls  R Js  B  21 P22 

Kb
K

The LFT-matrix P can be obtained as

 1 
 0 Js  B  K  Kt
P( s)   
 1 1 Kb 
 
 Ls  R Ls  R Js  B 
 Robust and Optimal Control - A Two-port Framework Approach
 1 
 0 Js  B 
A right-CSD associated with a left-CSD P( s)   
 1 1 Kb 
 
z w  Ls  R Ls  R Js  B 
 P11 P12  z u
y P u
 21 P22  G1
w w

K
u u

K y G 2 w

 1   1 
交  1 
0  0 
y z  Js  B 
 z 
0
Js  B  換 Js  B
 y  1     
Kb  w  w  1  0 1  u 
   
  
0   w 
 w  Ls  R  
( Ls  R )( Js  B)   u   u   0 1  u  1 0   w
   1        
u   0   y  1 Kb   Kb 1 

 0 1   Ls  R ( Ls  R )( Js  B )   ( Ls  R )( Js  B ) Ls  R 

 1   1 0 
z  0  u  u  u   u  u 
 w   Js  B  G  y    Kb 1     G 2  
  w 1 
 w    w  w
 
 0 1  ( Ls  R )( Js  B) Ls  1   
28
Robust and Optimal Control - A Two-port Framework Approach  1 
0
G1   Js  B
 
Example 
 0
1
1
0 
A right CSD associated with a left CSD 
G2   Kb 1 

 ( Ls  R )( Js  B ) Ls  R  K  Kt
 
z  CSDr G1 , CSDl G 2 , K  w z u
G1
  G 
1
CSDl (G w w
2 , K )   G 11  KG21 12  KG22

1
 Kb   1  u u
  1  K t  0  K  
( Ls  R )( Js  B )  
t
 Ls  R  K y G 2 w
K t ( Js  B )

( Ls  R )( Js  B )  K t K b

 K t ( Js  B ) 
CSDr  G1 , 
 ( Ls  R )( Js  B )  K K
t b 
1
 1 K t ( Js  B )  K t ( Js  B ) 
   0  0   1
 Js  B ( Ls  R )( Js  B )  K K
t b  ( Ls  R )( J s  B )  K K
t b 
Kt

JLs 2   JR  LB  s  BR  K t K b
29
Robust and Optimal Control - A Two-port Framework Approach

Property:


CSDr G, CSDl G, K    
 CSDr GG 1 , K if G is invertible

Proof:

 u   a  1 
u  a 
 y   G b  
G   
     y  b 

z a   1  
u
 w  G  b   GG  y 
     
Thus

 
z  CSDr G , CSDl G, K  w  CSD GG
r
1

,K w
 Robust and Optimal Control - A Two-port Framework Approach
 1 
 0 Js  B 
Example P(s)  
 1 1 Kb 

A left-CSD associated with a right-CSD  
 Ls  R Ls  R Js  B 
z w
 P11 P12 
y P
 21 P22 
u K  Kt

上到z移
最  1 z
1 0  0  
  w Js  B w

0
1  
0 
1  1  
1 0   z   Js  B   w 0  Js  B 1 0   u  0 
Ls  R
Kb u 
1  
0 1   y    1 Kb
      
Kb

0 1  z 
 ( Ls  R )( Js  B )  y
 
      u  0   1
 Ls  R 
( Ls  R )( Js  B )   Ls  R (L s  R )( Js  B )   y   1 
  1 0  z   0
  Js  B  u 
 1    
0    w 
1  
Kb y
 Ls  R   ( Ls  R )( Js  B ) 
1 0 
 z '  z  z
 1   y '    0  1   w   G1  w 
1 0    0      
 z '  z Js  B u   Ls  R 
 y '   0  1   w     1
 
y
     1  
 Ls  R   ( Ls  R )( Js  B )   1 
0
 z '  Js  B u  u 
 y '   Kb
    G2  
y
   1    y
 ( Ls  R )( Js  B ) 
31
 1 0 
Robust and Optimal Control - A Two-port Framework Approach G1    K  Kt
0  1 
 Ls  R 
 1 
 0
Js  B
G2   
 Kb
1

z  CSDl G1 , CSDr G2 , K  w   ( Ls  R )( Js  B ) 

CSDr (G2 , K )  G2,11K  G2,12 G2,21K  G2,22 

1

1
 1  Kb 
  Kt  0    K t  1
 Js  B 
  Ls  R  Js  B  



 Ls  R  K t
K b K t   Ls  R  Js  B 

CSDl  G1 ,
 Ls  R  K t 

 K K
b t   Ls  R  Js  B  
1

  G
 Ls  R  K t G
 
G 
 Ls  R  Kt G

21   12 22 

11
K K
b t   Ls  R  Js  B    K K
b t   Ls  R  Js  B  
Kt

JLs 2   JR  LB  s  BR  K t K b
32
Robust and Optimal Control - A Two-port Framework Approach

Conclusion Linear Fractional Transformation

z (LFT)
w
 P11 P12 
y P u
 21 P22 
LFTl ( P, K ) : P11  P12 K  I  P22 K  P21
1

LFT to two-port right CSD matrix LFT to two-port left CSD matrix

u u z

y K y G w

1
P P12   0 I 
1
 P12  P11 P211 P22 P11 P211  0 I   P11 P12   P12 1  P12 1 P11 
G   11  G    
0   P21 P22  1
P211 

 P21 P22   I 0   P22 P12
1
P21  P22 P12 1 P11 
I   P21 P22

Inversion may cause Improper!!

Robust and Optimal Control - A Two-port Framework Approach

Conclusion Linear Fractional Transformation (LFT)

z w
 P11 P12 
y P u
 21 P22 

LFTl ( P, K ) : P11  P12 K  I  P22 K  P21

1

LFT to left-CSD associated with a right-CSD LFT to right-CSD associated with a left-CSD
a z z a

b G w G
w b

a u u a

G y K K y G b
b

 P P11   I 0 
  I  P11    P12 0   CSDr   12 , CSD  , K   w
z  CSDl   , CSDr  , K  w  0 I 
l
  P22 P21 
 0  P21   I     
   P22
No inversion No inversion