Analysis of Multivariable Servo Systems Considering Sensor Dynamics

Servo problems taking into consideration the sensor dynamics are considered in the transfer matrix setting. As a preparation, we propose a new definition of internal stability, and derive a few properties of this stability. Secondly, necessary and sufficient conditions for a stable system with sensor to have tracking, robust tracking, regulation, and robust regulation capability are obtained. In order to verify the validity of usual servo system synthesis methods which utilize internal models and to have insight into servo synthesis, the relation between internal models and sensor dynamics are considered in detail.