Asymptotic properties of dynamic controllers designed by projective controls

Asymptotic properties of closed-loop systems controlled by low order dynamic controllers based on projective controls approach are studied. Asymptotic eigenvalue locations and time-scale separation properties are studied for p ?? r (controller dimension smaller than the number of available outputs) as well as for p > r. For p ?? r it is shown that the asymptotic controller is a multivariable PD controller, while the generalized PID controller introduced in earlier papers to control systems with constant disturbances reduces asymptotically to a multivariable PID controller.