LIMITATION ON THE CLOSED-LOOP TRANSFER MATRIX DUE TO C.R.H.P. TRANSMISSION ZEROS OF THE SUBSYSTEMS FOR THE GENERAL TWO-DEGREE-OF-FREEDOM CONTROL SYSTEMS

For the general two-degree-of-freedom control systems such that the closed-loop systems are internally stable, the limitation on the closed-loop transfer matrix due to C.R.H.P. Transmission zeros of the subsystems is discussed in this paper. This limitation imposes fundamental constraints on achievable performance in control system design. The conclusions in this paper extend the results of reference 3.