qChapter 9 introduces LFT in detail. We show that many control problems can be
formulated and treated in the LFT framework. In particular, we show that every
analysis problem can be put in an LFT form with some structured *D**(s)* and some interconnection
matrix *M(s)
*and every
synthesis
problem can be put in an LFT form with a generalized plant *G(s) *and a controller *K(s)* to be designed.

Chapter
9