Let p1,p2,…,pm and z1,z2,…,zk be the open right-half plane poles and zeros of L, respectively.
S(pi) = 0, T(pi) = 1,
2, …,m
and S(zj) = 1, T(zj) = 0, j=1, 2, …,k
Suppose S=(I+L)-1 and T=L(I+L)-1 are stable. Then p1,p2,…,pm are the right-half plane zeros of S and z1,z2,…,zk are the right-half plane zeros of T. Let