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By Dr.-Ing. Irmfried Hartmann, Dipl.-Ing. Werner Lange, Dipl.-Ing. Rainer Poltmann (auth.)

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G A. [G] "Y 1 - e- j cp) G( e h)]' - ( 1. 61) for all frequencies. 38). - 30 - 1'. Looze:"A relationship between sensitivity and stability of multivariable feedback systems", JACC 1980-WP8-C. Brunowsky:"A classification of linear controllable systems", Kybernetica,Cislo,pp. 173-188,1970. Vidyasagar:"Feedback systems; inputoutput properties", Academic Press New York 1975. 580-586. 401-404,1985. 4-16, 1981. Contr. 817-818, 1980. , 1980. Kwakernaak:"Lineare Kontrolltheorie" Springer-Verlag Berlin 1985.

27) - 46 - . : k( 1) r-. 29) := was used. 5). 19a). Up to this point, the design represents a generalizati on of the method of procedure applied in [11] to the multivariable case. 5 CANONICAL FORM FOR THE CONTROLLER The following p sets of equations will be obtained after a row-by-row transposition of Eq. • p . 30) It is assumed that each partial controller will be complete observable. m) is arranged in a complete observable canonical form. 31) 0 0 -13 0 -131 [ 1 . k':. m is the m-series unit matrix.

9). 5). 5. 2. These are, for each partial controller, the "starred" variables contained in the vectors Si according to Eq. 36) and the eigenvalues off according to Eq. 31). According to Eq. ill possess "starred" variables of precisely m-ni +1. 38) J-Dor~AIN This section deals with a compilation and brief derivation of the feedback system relationships in the frequency domain. 8 is of particular importance for the subject in question. 1 COMMAND BEHAVIOR Following a }-transformation, the following relationship will be obtained from Eqs.

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