Loop transfer recovery for nonminimum phase plants

A study of what happens when the loop transfer recovery (LTS) procedure is applied to nonminimum-phase (NMP) plants, how design limitations due to right-half-plane zeros manifest themselves in the LTR procedure, and how this knowledge can be incorporated into design is presented. Explicit expressions are given for the asymptotic behavior of the loop transfer and sensitivity functions resulting from application of the LTR procedure to nonminimum-phase plants. It is shown that there exists a tradeoff between the feedback properties of the state feedback loop and the ability to recover those properties using the LTR procedure