A simple state-space design of an interactor for a non-square system via system matrix pencil approach Original Research Article

The construction of an interactor cancelling the infinite zeros of a non-square proper transfer matrix is discussed in this paper along the line of approach of B.R. Copeland, M.G. Safonov [Int. J. Robust Nonlinear Control 2 (1992) 139]. In this paper, some new properties of the infinite eigenstructure of the system matrix pencil of the transfer matrix are presented. A simple state-space design of the interactor is proposed by using these properties. Then, some new features about state-space relations among the original system, the interactor, and the compensated system are presented. Also, several conditions about the invariance of the stabilizability or controllability between the state-space realizations of the original system and the compensated system are shown. Furthermore, the proposed method of designing the interactor in this paper can be applied to a tall or fat transfer matrix with full normal rank.