Loop transfer recovery with non-minimum phase zeros

The extension of loop transfer recovery (LTR) design technique to non-minimum phase (NMP) systems has been studied. Explicit expressions are given for the asymptotic behavior of the sensitivity function resulting from application of the LTR procedure to NMP plants. It is observed that the limitations imposed by the NMP zeros upon feedback properties manifest themselves as a tradeoff between the feedback properties of the state feedback loop and our ability to recover those properties using the LTR procedure.