Finite Frequency Characterization of Easily Controllable Plant toward Structure/Control Design Integration

  • Shinji Hara
  • Tetsuya Iwasaki
Part of the Trends in Mathematics book series (TM)


This paper summarizes the authors’ recent results on finite frequency characterization of easily controllable plants under control effort constraint, the aim being the development of a new approach for plant/control design integration. We first show by a motivating example that the closed-loop bandwidth achievable with a reasonable control effort is closely related to the frequency range for which the plant is high-gain and exhibits positive-realness. We then present an LMI characterization of the finite frequency Kalman—Yakubovich—Popov (KYP) lemma and derive several related conditions. Finally, the conditions for the finite frequency positive-real (FFPR) and the finite frequency high-gain (FFHG) properties are shown.


KYP lemma Structure/control design integration Finite frequency property Passivity LMI 


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Copyright information

© Springer Science+Business Media New York 2003

Authors and Affiliations

  • Shinji Hara
    • 1
  • Tetsuya Iwasaki
    • 2
  1. 1.Department of Information Physics and Computing Graduate School of Information Science and TechnologyThe University of TokyoTokyoJapan
  2. 2.Department of Mechanical and Aerospace EngineeringUniversity of VirginiaCharlottesvilleUSA

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