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mum number of modes of the system S(A + HPJ,B,C), which are I insensitive to variation of the parameters of P, to arbitrary prespecified locations, it does not yield necessarily a stable system. It may well happen that some of the roots of the resulting characteristic polynomial det[XI- A- HPJ + BK] lie in the right half of the complex plane, even for P = Po where Po is the nominal value of P. If this is the case it would perhaps be desirable to assign less than r, insensitive modes but secure, in the same time, the stability of the overall system, at least for the nominal values of the parameters of P. In the case where the spaces that are spanned by the columns of H and B are disjoint and m>q, it is possible to assign m modes of S(A + HPJ- BK, B, C) to arbitrary, prespecified locations in the left half-plane, make these modes insensitive to the parameters of P, and assign the remaining n- m poles of the system S(A + HPJ- BK,B,C) to any prespecified locations in the left half-plane. This is accomplishe

Year: 2009

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