On the zeros of asymptotically stable serially connected structures

A serially interconnected N-mass system is considered. Specifically, we consider the single-input single-output (SISO) compliance from the force applied on any mass to the position of any mass. The main result of the paper is a result showing that all SISO compliances of serially connected structures are strictly minimum phase. Lastly, we present a dynamic compensator that is constructed using generalized root locus principles and the Fibonacci series. The compensator requires only limited knowledge of the plant and provides infinite upward gain margin.