q
General Case:
Let
F
and
L
be such that
A+LC
2
and
A+B
2
F
are stable.
Then
K = F
l
(J,Q)
:
•
•
•
with any Q
Î
RH
¥
and
I+D
22
Q
(
¥
) nonsingular.
Figure 11.3 Structure of Stabilizing Controllers