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the theory of isolated dynamical systems (flows on manifolds, etc.) the notion of an invariantset serves a crucial role for
classifying the nature of a system. A subset of the state space is
said to be invariantif startingin it, the trajectorymust remainin it
for all time. For control systems, this property is not particularly
useful. For example, if a system is controllable, in the sense that
any initial state can be drivento any terminal state, then there are
obviouslyno non-trivial invariantsets in this sense. However, if
one modifies"must remain" into "can remain" in this definition,
then a very useful notion is obtained. This is the key observation
that underlies the notion of invariance introduced in the paper
by Wonhamand Morse (see also [1]).
Wonham and Morse consider finite dimensional linear sys=
tems. The linear subspace V of the state space X of
Ax + Bu is said to be controlledinvariant[or (A, B)- invariant,
as they call it] if for any Xo E X there exists an input u(.) such
that the resulting solution x() with x(O) = Xo satisfies x(t) E V
for all t E IR. It turns out that this condition is equivalent to
(A, B)-invariance (AV S; V + im(B)) and to the possibility of
making the subspace invariantby state feedback (3F such that
1tx
(A
+ BF)V
S; V).
This concept, together with the related notion of controllability subspace and the dual notions of conditional invariance,
opened the road to the elegant "geometric" theory of linear systems and a wide range of applications,especially to problems of
disturbance decoupling,non-interactingcontrol, and regulation.
Indeed, the decoupling problem was the main motivationfor the
developmentof the geometric approach.The early contributions
to the study of this problem are reviewed in Wonham's seminal
book [20, Sec. 9.10]. The problem of disturbance decoupling
with output feedback was completely solved in the linear case
in [16] and, incorporating stability,in [18].
Soon after the appearance of the notion of controlled invariance for finite dimensional linear systems, it was generalized in
many directions, notably to infinitedimensional systems [4], to
"almost" versions of these notions [19] (that made it possible
to treat approximate decoupling problems and high gain feedback), and to nonlinear systems. It also sparked a totally new
approach to discrete event systems; see, e.g., [15].
In the late 70s and in the early 80s the notion of controlled invariance was extended to nonlinear systems, and this extension
opened the way to the systematic development of methods for
the design of nonlinear feedback laws. In the context of nonlinear systems, the notion of invariantsubspace generalizes in two
distinctways:invariantsubmanifoldsandinvariantdistributions.
Givena vector field f, an f -invariantsubmanifoldis a "surface"
with the property that any integral curve of f which intersects
this surfaceis entirelycontainedin it, whilean f -invariantdistribution is, essentially, a partition of the state space into a "family
of surfaces" with the property that the flowof f carries surfaces
into surfaces (if, in particular, one of the surfaces of this family
contains an equilibrium of f, then this surface is an invariant
submanifold,otherwiseit is not). In light of this, the extensionof
the concept of controlled invarianceto nonlinear systems leads
to the notions of controlledinvariantsubmanifolds/distributions
.as objects that can be rendered invariant by means of suitable
feedback laws. Thus, for instance, in a control system
d
dt x
= f(x) + g(x)u
with state x E lRn and u E R, a submanifold/distribution is controlled invariant if there exists a feedback law u = a(x) which
renders it invariantfor the "closed-loop" system
d
dt x
= f(x) + g(x)a(x)
In the nonlinearcase it is the notionof controlledinvariantdistribution (in contrast to invariantlinear manifold, around which
the linear theory is centered)that plays a fundamentalrole in the
analysis and solution of the problems of disturbancedecoupling
and noninteracting control. Decoupling a fixed output from a
fixed disturbance input is achieved by imposing, by feedback,
the existence of an invariant distribution that renders the influence of the disturbance unobservable by that particular output.
This fruitful domain of research was opened by the works [9]
and [6], and then continued by various authors (see, e.g., [13],
[10], [5]). The problem of noninteracting control with stability
required some extra effort in view of the existence of certain
321
[1] G. BASILE AND G. MARRo, "Controlled and conditioned invariant subspaces in linear system theory," J. Optimization Th. & Appl. 3:306-315,
1969.
[2] S. BA'ITILOTII, "A sufficient conditionfor noninteracting controlwith stability via dynamicstate feedback," IEEETrans. Aut.Contr., AC-36:10331045, 1991.
[3] C.I. BYRNES AND A. ISIDORI, "Asymptotic stabilization of minimum-phase
nonlinearsystems," IEEETrans. Aut. Contr., AC-36:1122-1137, 1991.
[4] R.F. CURTAIN AND H. J. ZWART, An Introduction to Infinite-Dimensional
LinearSystemsTheory, Springer-Verlag (Berlin), 1995.
[5] W.P. DAYAWANSA, D. CHENG, T. J. TARN, AND W.M. BOOTHBY, "Global
A.I. &J.C.W
322
X(I)
= Ax(.t) + Bu(t'
with x an n-vector, u an m-vector and A, B constant matrices of dimension, respectively, n x nand n x m. Here and below, all vectors and matrices have realvalued elements. Script letters denote linear subspaces: 8" is real n-space; 'I '1 is
the orthogonal complement of the subspace .'1"'; 0 denotes both the vector zero
and the zero subspace.
If K is a matrix, {K} or .K is the range of K, and. i' '(K) is the null space of
K. If K is of dimension J.l x v and 'I.' ' c till, we write K- 1 1 . for the subspace
{z:zet8''',KzE 1"} C s:
The controllable subspace of the pair (A, B), written {Alat}, is defined as
{AI~}
= &4 + A~ + ... +
An-lYl.
Received by the editors February 3~ 1969, and in revised form June 4. 1969.
t Office of Control Theory and Application, NASA Electronics Research Center, Cambridge.
Massachusetts 02139. The work of this author was supported by the National Aeronautics and Space
Administration while he held an NRC postdoctoral resident research associateship.
: Office of Control Theory and Application, NASA Electronics Research Center. Cambridge..
Massachusetts 02139.
Reprinted with permission from SIAM Journal on Control, W. M. Wonham and A. S. Morse,
"Decoupling and Pole Assignment in Linear Multivariable Systems: A Geometric
Approach" Vol. 8, 1970, pp.1-18.
323
Thus, {AltI} is the largest subspace of 8" which the control u() in (2.1) can
influence. Observe that {Alai} is an A-invariant subspace of In.
With (2.1), we consider the auxiliary equation
(2.2)
y(t) = Hx(t),
(3.1)
x(t)
where D is a constant n x
Cx(t)
+ v(t) (where v( ) is an external control input), then the output y( ) will be unaffected by all possible c;( ) if and only if {A + BCIP}} c ~K(H). This suggests
the problem: given A, B, !J) c tI", .IV c tfn, under what conditions does there
exist an m x n matrix C such that {A + BCI9}} c ..AI? If C exists, the effect of
disturbances is, in an algebraic sense, localized to ./V:
THEoREM 3.1. There exists C such that {A + BCI~} c ,iV if and only if
~ c 1/;where l ' is the maximalsubspace such that
(3.2)
Furthermore
(3.3)
j/"
is given by "I/' =
1,'(0)
.,N'~
j"{lI),
j"(i)
where
i= 1,2,,v,
and v = dim .A":
Here and below, "maximal" ('''minimal'') mean l.u.b. (g.l.b.) with respect to
the usual partial ordering of subspaces by inclusion.
To prove the theorem we need two auxiliary facts.
LEMMA 3.1. Let XiEIPI, UiEsm, i = 1, "', N, and write X = (Xl"'" XN),
U = (U1'' UN)' Thereexistsanm x n matrix Csuch that Cx, = Uhi = 1",, N,
if and only if %(X) c ..(U). C always exists if the Xi are linearly independent.
The simple proof is omitted.
LEMMA 3.2. Let "f'"' c tin. Thereexists an m x n matrix C such that (A + Be) 1, .
c 1''"' if and only if Ar" c 91 + 'I':
Proof. Necessity is clear. For sufficiency, let VI' , VII be a basis of 1<
Then AVi == BUi + Wi for some Ui E 8 m and Wi E r; Choose C, by Lemma 3.1,
such that CVi = -Uh i = 1, ... , u; then (A + BC)v; = Wi'
Proof of Theorem 3.1. For sufficiency, (3.2) implies l' C .. f' and A l' . c 91
+ "f': By Lemma 3.2, there exists C such that (A + BC)"f' c l' ~ Then
{A
+ BCI,q)}
{A
+ Belt '}
= 1" c . ,~<
lI'~
c .'V:
A }f" c
324
d4
1/':
If '~is the class of all jf' c tin which satisfy (3.4), then clearly 0 E 1Y and 11' is
closed under addition. Hence, 1f'''contains a (unique) maximal member 'II: Then
~ c 'II'" c 'I" and r: satisfies (3.2).
To prove the second statement of the theorem, observe that 1"'(0):::> r;
and if ; '(i- t) ~ 1~ then ,,'(0 ::> 1/ A - 1(~ + 1"') = '1/~ Thus, t"(i) ::':) '/.''' for all
i; and since ;,'(i) c t (i-1). there is a least integer j such that ~.(;) = r '(j) if i ~ j.
Since 'f '(j) :::> ;'- and 1,/"0) satisfies (3.4), tJ 'Cj) = 1- ~ Clearly, 0 ~ j ~ v: and if
f} c 1-' we even have 0 ~ j ~ v - dim ~.
Remark 1. Theorem 3.1 depends essentially on the fact that the class 11'
determined by (3.4), or equivalently
x=
(A
{A
+ BCI{BK}}
+ BC)x + BKt'
and we require
(4.1)
= .-Jt,
Condition (4.1) can be expressed more neatly by noting that {BK: c tI and the
following.
LEMMA 4.1. If rJ c !M and {AI~} = 91, then {AI~ n JI} = ~jt. Conoersely, {!'
{AliM n ~} = fJI, thereexists a matrix K such that {AI{ BK }} = iJt.
Proof. {AI!f} = fJI implies rI c ~, so !f c 91 n ~, and thus ..Jt = l AI~:
c {AlflI n ~}. Also, A9t c ~ implies A(aJ n at) c .~; by induction Ai(:jJ n .11)
c ~,j = 1,2, ,and so {AI~
at} c YI.
For the converse, let bi , i = 1, ... , m, be the ith column of B and let :"i~
j = I, . , m'} be a basis of 81 n 91. Then
rj
L k;jb;,
= I ~ , .... m',
i= 1
for suitable ki j , and we set K = [ki j ] . This completes the proof of the lemma.
By Lemma 4.1, we can pose the synthesis problem as follows:
Given A, Band rJI, find conditions for the existence of C such that
(4.2)
{A
+ BCI~
n 9t} = JI.
If such a C exists, we call Yl a controllability subspace of the pair (A, B). Observe
that at = 0 and fJl = {AI~} are controllability subspaces.
Controllability subspaces can be characterized as follows.
325
THEOREM
;~
A.JI c
~r
+ .Jt
and
.~
(4.4)
= if,
(4.5)
Furthermore, :i =
.\jI(P), where
.~(O)
(4.6)
n (A~ + :M).
= 0,
;=1 . 2.,1l.
BC~ c
LEMMA
L (A + BCP-l(~ n :it) =
(4.7)
;.jf(i).
j= 1
L (A
I)
j= 1
(4.8)
+ BCltf nat},
L" (A + BCY-
(~
j= 1
326
n .:Jr.) = .Jttll) =
;:JI(P.
Conversely, if .'1t = ~(n). then (4.8) is true for every C E C. It remains to show that
(4.5) has the minimal solution g,(p). By induction on i in (4.6), it is seen that
Jt(i) c ~. i = 1,2. for every solution .j of (4.5), and that the sequence .jf(it is
monotone nondecreasing. Hence, there is Ji ~ P such that .ljI(l) = ..Jt(Il) for ; ~ JL:
= {A + BCI.qd n ~jf~
for every C such that (A + BC).~ c ~jf. This fact will be used later without special
mention.
Consider now the problem of assigning the eigenvalues of the restriction of
A + Be to fJt. It will be shown that there is complete freedom of assignment and
that simultaneously the control v introduced earlier can be made a scalar: i.e., in
(4.1) K can be made an m-vector (111' = 1). For this, recall [4] that a subspace .1' is
A-cyclic if there exists x E fl' such that {AI {x l} = PI'; that is. if .Uj' contains a
generator x. Thus we can take m' = I if and only if.~ can be made (A + BC)-cyclic
and ~ n PA contains a generator.
THEOREM 4.2. Let (4.3) and (4,4) hold, and let ~1' , ~/' be arbitrary real
numbers (p = dim 91). Then C canbe chosensuchthat (4,2);s trueand.'1I is (A + Be)cyclic with characteristic polynomial
I'
(4.9)
L ~iAi-l,
; ..p -
i=1
lf 0 b e fJI
{A + BClbit
(4.10)
n .jf} = .jf
bt,Atb l ,
are independent. Put r 1 = b, and rj
'I
A/ll-lb l
b2 are independent; such a b2 exists by (4.7). Let P2 be the greatest integer such
that
+ h2 "
I ....... P2'
Then r. , , .. , 'Pl are independent and in~. Continuing thus, we obtain eventually
r l ' , rP independent and in .~, with the property
ri+l
where hi E Jt
= Atri + bi ,
i = I....... p - I.
; = l , ... " p,
where bp E;;t n JI is arbitrary. Since bi = BUi for suitable Ui' and the r, are
independent, Lemma 3.1 guarantees that C2 exists. The situation now is that
i=I~.p-l
and
+ Be 2H r 1 }-;. = .11;
A + B((~l + e 2 ) with generator
.: A 1
E.*
(~I
+ C 2 + gc'
(4.11)
jj
= {A + BCI31 n
17'}
+ BCI&it n di},
.lI c
.Y
Since
such that
cs c.
s
xE.i~
+ BCI~ n ~}
+ BCI8I n 1~'}
= ~i;
(S.l)
(5.2)
'I
(5.3)
= ex + L
i= 1
where Pltj is the range of Hi' Since the ith control r, is to leave the outputs Yj'
j :#: i, unaffected, we require also
(5.5)
Recalling the equivalence of (4.1) and (4.2), we can express conditions (5.4)
and (5.S) more neatly as follows. Write tI" = I and
(5.6)
'l
L k .
'I
, .
(5.7)
~~i = {A
(5.8)
.Jti
(5.9)
:Jt i c:
+ BC'~
+ . t; = 8,
n . Jj~
n .Jtd- .
; = L . k .
i = 1..
k.
; = 1. ., k .
i*i
Here (5.8) and (5.9) are equivalent, respectively, to (5.4) and (5.5).
The relations (5.7}-(5.9) provide a geometric formulation of the problem of
simultaneous decoupling and complete control of the output vectors ..vi" . . " J'k'
Thus stated, the problem definition is both natural and intuitively transparent.
We observe that the output matrices Hi play no role beyond specification of
thesubspaces. f'jOl Since the Hi need have no special structure, the. "; are similarly
329
(5.10)
i :F 0,
; = 1~ . , k.
n L .r OJ =F 0
j~i
.'i+
n.i'j~8
j~i
and (5.8) must fail. For (iii), if {AI~} = 8 1 #: 8 we can write I = 1'1
8 2 and
(2.1) as
Xl = A1x1
+ A 3 X 2 + Blu,
X2 = A 2 X 2 ,
"1'
:li en
..Jj~
= 1,, ~ k.
j*i
= n.
n" .i: = o.
i= I
That is, there is a one-to-one mapping of state variables into output variables.
THEOREM 6.1. If (6.1) holds, then the problem (5.7)-(5.9) has a solution {r and
only if
; = 1, ..... k .
(6.2)
1
330
O.
Il~i
j~i
Il:l=i
V~1l
j~i
= {A + BCi/:A n ~d"
L,,. k .
Since the ~jii are independent there exists" by Lemma 3.1" a matrix C such that
= C;r (reti i , i = 1. ..... k).. i.e,..
Cr
(A
+ BC)r =
+ Bei)r .
(A
re.ji"
i = I . . k .
Then
J; = -fA +
BCI~
n JJ i } ..
i = L " .. k :
~i
= :A + BCI{b'::'"
= k,
i =
L ., .. k .
dim:M = k,
(7.1)
Here the situation has been simplified by narrowing the choice of generating
subspaces fJI s; The same assumption was made in [1], [2] and [3]" with the
additional restriction that the outputs Yi be scalars.
THEOREM 7.1. //(7.1) holds, then the problem (5.7>-(5.9) has a solution ~r and
only ~r
(7.2)
ji
+".i = 8,
; = L ., ... k .
and
k
(7.3)
;;f
= L
n s;
i= 1
Furthermore, if C, Jt l '
. ,
(7.4)
= L . k.
L. k .
L !/I
i_'
j C
:Mi
L ;M n ~j c
n (~ n .it;) n
.oA;
i-'
L~.i =
o.
jei
= ~A + B('l:jfi~' + ji~
.11;
where
.Ai C{A +
j C
*' i
j i Il
j ;
*j
Therefore. by (5.8),
{A
BCI~':'
+ . t ; = A,
~i
L ~i = L dim ~i =
Ie
"
i=1
i= 1
dim
k:
so
(7.5)
.~
= ~A I ~
...
Ea :M"
"and
dim..M;
= 1..
l .... . k .
n Ji
i)
n .iI;
; = 1....... k .
= 1..
and so
(7.6)
l.. ..... k .
Then C, E C(aI,)
+ BCi).,ii C
'~i"
eir
= C,.,
re .if;,
n C(~,), so that
;it i
= {A + BCil~ n A'd"
= fA + BCil;~ n ~d'
=
.A;
J;r = L s;
j;
332
(7.7)
i=L.k.
(7.8)
If dim (at
n ~j 1) = L then
c.iT.
n ~1) ~ 2, and
(7.9)
;A
n ji . ~r,
i = J,
0"
k,
then
Jl = 1, . , k - 1, that is,
dim
[.f,= ~ n ';;i] ~
1
3;
and by induction
dim
[.r ~ n !.Ii] ~
,=1
I,
a contradiction. Thus (7.9) is false; combining this result with (7.8) there follows
(7.10)
&f
n d(l. c fl,:
for some cxe(l,, k). It will be shown below that there exists C2 such that
(7.11)
(A
+ BCac)9l(l
~2;
(A
+ BC(l~:
c ;~:.
+ BC,JBI
n :i(l.}
{A + BC21~:} c ~: c .. i';.
and therefore (7.2) fails for i = ~. With this contradiction, (7.7) is established.
It remains to verifythe existence of C2 For this we need the following result.
LEMMA 7.1. Let 'IJ"~ 11" be arbitrary. There exists C such that
0
(A
+ Be)l-"
j ~
(A
Be) 'II' c
'JI'
1~
A11'cal+
'II~
A(1'
n ~"') c
:11
1"
n ~:
'H"
1i~
where 1-' c 1 ~ ,*~' c 11 ~ By the construction of Lemma 3.2, C can be chosen such
that
n 'II ') c
(A
(A
+ BC){' c:
(A
BC)( t .
t'
1~
eci c
'N~
s;
A(:i:l
n ;1:) c
n 'H ~
s; A-l: c
~11
+ .j:.
By (7.3)
.12 ) n (~ + ,~:)
= 1~ + (;M + ~ 2) n .j:
= 111 + (~ n ~j: + j2) n ~:
= .eJI + ~2 n Ji:.
(:M +
(7,12)
en. tj,
i = 1.. ..... k.
j:Fi
It is enough to check that the f; are compatible, in the sense that there exists C
such that
(A
+ Be')1;' c
t~.
i=
L,~k.
;=
1.. .. _k .
L 1~'
1~'" =
j'i
where ~i = 1M
that
n c: at + '-:1
= :JI
n ~. +
= ~i
'f~1
(by (7.3))
t~,
('i"
such
i = L . k .
1~'
+ .,. +
t~',
BCv,. =
L ec;
;= I
334
\' = I . , .
}l.
Then
c (A
L B4j
i*i
(7.13)
c
'f-r
L 1j'
ji
= 1..','. k .
= 1.. ..
't
k.
(A
+ Be)'! i c i'i.
i = 1,, . k..
r,c
(7.15)
n L n
j~i
,t~
= n . I j.l
2:1:j m'2
j*i
By (7.14) and (7.15), the j'j satisfy the conditions imposed on the '1~' in (7.12).
Since the "fi are maximal, there results 'I i c j~, and, therefore, 1; = '1~' .
i = 1, "., k.
Remark 6. If the conditions of Theorem 7.1 are satisfied, then
(7.16)
.t
,-I
iii =
. {A + BC/f n
,= 1
= {A
;ji}
= {A + BCj. f n iii}
,=1
+ BClaI} = {Alai} = 8.
A =
I 0 0]I
[001
1 I
= [:
~l
0]
Ii = [~ .
l.
C2'
det (A
[('1 0 OJ
Then
+ Be -
A./) = (1
"2
A..HI - A.)( 1 +
('1 -
('2 -
A).
BC",
is fixed,
To discuss the present case in general, we introduce a suitable decomposition
of 8. Assume that the problem of (5.7H5.9) has a solution C, .j l ' ... , .11k .. and
let C denote the class of matrices C for which (A + BC~~i C ~j;, ; = L .... k.
We know that the spaces :l; are the unique solutions: for simplicity of notation"
write Jt; for JI/. Define
k
(7.17)
n *r,
tfo =
i= 1
(7.18)
;= I.. ,k.
In the following, J denotes the set of indices (1, ... , k), J o the set (0, 1, ... , k).
In intersections and summations involving 91's, the index ranges over J: in those
involving 1'5, the index ranges over J 0
LEMMA 7.2. The subspaces tl i have the properties
(7.19)
4 o E9 8 1 ~
(7.20)
(A
~8k
=I .
+ BC)tIi c li+ 4 o ,
ieJ o .. CECa
Proof. Assertion (7.20) is obvious by the fact that the :iii are (A
invariant. For (7.19), observe first that
9l i
and so, if i e J,
8i
n (8
L tS
j)
c:
s, n (8 0 + .<Jtj)
j*O
j:Fi
n ~r
= G n :Jt n ,CJtr
= A'i
(7.21)
= o.
Now for arbitrary subspaces ,Yi, i = 1, 2, 3, if
,y!
n ('~2 + ,Y3) =
.V1 n '</2
336
+ ,Y~ n .</3,
+ Be)-
then
Applying this fact and using (7.21) we have
81
Ie
and therefore
")
Ion ( t!.+j~2'i
=/o n / . + / o n JIi. 28j
Ie
n L lSj.
= 10
j=2
(7.22)
Equations (7.21)" (7.22) state that the 8 i l E J 0' are independent. Finally" by (7.16) .
'l
Ie"
L Ii = L (8
i=O
+ 80)
i=1
L ~.;ti = I.
i=1
k;
tI; =
't
+ BC~{Pibd'}'
i e J,
Proof By (7.18) and (7.19), ti = Pial By (7.18) and (7.20),
(7.23)
{~(A
P/Jti
= Pi L (A + BCy-l{b i }
j= 1
= L [Pi(A + Bc)]j-l{Pibi:'
j= I
= {~(A + BC~{~bd'}'
LEMMA 7.4.
(7.24)
.4
n8
= O.
~ n 40 = ( i
i= 1
Y4
n ::11;) n
= (iM n 91 1 +
= (
n.:Jt1
j= 1
i ~ n rJl
i)
;=2
i ~ n .11;) n niN!
i=2
j=2
337
n .':1It n
n,1
lt
j=2
i.j e J;
r ).
Write
k
(7.27)
L h.jc/j~
BD =
j= 1
where, as before, .~ hj } =
(7.28)
~!d
n ..;tj' Then
PiBDlj=Pibi,litrf'j=O,
ie i,
i#j,
(7.29)
8('2'
B(' d,
i E J 0,
+ Be 2)(1
- Po)
jeJ o .
Define
Po(A
+ Be 2) =
Po(A
AoPo,
J.
PitA
+ Be 2 ) =
Ai
+ P;BD
(7.31)
LP
j=O
= Ai
+ Pib;d;P
j,
1\ = U Ai'
i=O
dx =
I
{W'X
0
for xeA'i'l
for x E L 8'j.
j*i
338
where
no =. dim
(.n ]11)'
J= 1
n J#r)~
iE J.
The set A o and the integers ni (i E J 0) are fixed for all C E C. The sets Ai (i E J) can
be assigned freely (by suitable choice of C E C) subject only to the requirement
that any Aii with 1m Aij =1= 0 occur in Ai in a conjugate pair.
Remark 8. If basis vectors are chosen in the tS i , then the system differential
equation can be put in a simple "normal" form. Let
and
~x ~
(A
+ BC 2 )x + Br .
(7.32~
W == (WI'' WIe)'.
K \V~
bi + b;o
Adopting nrdimensional representations of the z., etc... we see that (7.32) can be
written as
i, =
(Ai
(7.33)
+ '~)Zi + hiWi~
iE J ~
to =
i'* 1
= .If;.
atr
Remark 9. The decoupled system is acceptable in practice only if the eigenvalues in the fixed set Ao are all stable. It is possible to check for stability of Ao
as follows. Recall that Jt i C tl i + tf 0 (i E J) and note from (7.20) that A(&;i + a0)
c Ii + tf0 + YI (i E J). Furthermore,
~
+ 80
en. 1j,
i E J.
j=/;i
It follows by Theorem 4.3 and the maximality of the .Jt; (='~i) that
:Jt; = {A
+ BClat n (I'i + 1 0 ) :,
for any C with the property (7.20). That is, (7.20) is both necessary and sufficient
that C e C. Thus, to compute Ao it is necessary only to compute the spectrum of
A + Be0 (restricted to tf 0) where Co is any matrix such that (A + Be0 )($1 0 C ~ ()
339
340