Abstract
In this paper, servo problems including sensor dynamics are considered in the transfer matrix setting. Firstly, we propose a new definition of internal stability which is suitable for transfer matrix representation and is fundamental in servo systems, and derive a necessary and sufficient condition for the internal stability. And a few characteristics of the stability are derived. Secondly, necessary and sufficient conditions for output tracking and output regulation of the stable system with sensor dynamics are obtained using above results. And in order to verify the validity of usual servo system synthesis methods which utilize the internal models and to have foresight in servo synthesis, the relation between the internal model and sensor dynamics are considered in detail.
