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Summary: EEETRANSACTIONS ON AWIWMATIC CONTROL,VOL. AC-24,NO. 4, AUGUST 1979
same tolerance to disturbances and uncertain elements inserted at this
point. While point X is clearlyaphysically important one (more
important than point X X, certainly),engineerswhomay wish to test
robustness at still other points in the control loop should recognize that
the recovery results maynot be applicablethere. If such other points are
judged more important than X, a slight generalizationof the adjustment
procedure may be used to ensuremarginrecovery, as outlined in
Appendix A.
The suggested adjustment procedure is essentiallythe dual of a sensi-
tivity recovery method suggested by Kwakenaak [7]. The latter provides
a method for selectingthe weights in the quadratic performance indexso
that full-statesensitivity properties are achievedasymptotically as the
control weightgoes to zero. In this case, however,closed-loop plant
poles instead of observerpoles are driven to the system zeros, whichcan
result in unacceptable closed-looptransfer function matrices for the final
system.
APPENDIX A
DERIVATIONOF PROPERTY3
Referring to Fig. ](a), the transfer functions from control signal U" to
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