A new method of solving optimal servo problems

In this paper a new method of solving the linear optimal servo problem is presented. The necessary and sufficient conditions for complete reducibility of a multivariable servo problem to the regulator problem are stated in terms of the desired outputs and proved. It is also shown that the conditions for the existence of the solution to the servo problem with polynomial types of desired outputs are the same as those for complete reducibility. The starting point of the design procedure is the description of the plant in state variable equations. A numerical example is worked out to illustrate the design procedure.