抄録
This paper discusses the continuity of the relation between models for designing linear multivariable systems and resulting system performances. To state the problem more precisely, let P be the transfer matrix of the model, and let H be the transfer matrix of the closed loop system designed through an appropriate control scheme. Since H is uniquely determined by P, H is regarded as a function of P. If H depends continuously on P, then the small error in modelling causes only small change of H, while if it is not the case, the small error in modelling yields the transfer matrix H that is drastically different from the expected one.
The problem treated in this paper is: under what condition is H(P) continuous with respect to P? As the design scheme, we consider the linear quadratic optimal regulator (LQR), and the linear quadratic optimal servosystem with integrators (LQI); and give sufficient conditions for the continuous dependence of H(P), in terms of the pole-zero cancellation in the open right half plane.
