Abstract
Existence conditions of a compensator such that the compensated system is satisfied two servo cenditions, namely output regulation and internal stability, are considered for linear multivariable systems with portial parameter perturbations based on the concepts of genericity and well-posedness. Four solvability concepts, namely (i) solvability at θ* (nominal value of parameter θ), (ii) generic solvability, (iii) well-posed-solvability at θ*, and (iv) generic well-posed-solvability, are introduced. Their necessary and sufficient conditions with matrix operations are derived and the relationships between these conditions are clarified. A design procedure of desired servo compensators is also presented.
