Loop transfer recovery for general nonminimum phase discrete time systems - part 1: analysis

A complete analysis of loop transfer recovery (LTR) for general nonstrictly proper, not necessarily minimum phase discrete time systems is presented. Three different observer based controllers, namely, ´prediction estimator´, and full or reduced order type ´current estimator´ based controllers, are used. The analysis corresponding to all these three controllers is unified into a single mathematical frame work. The LTR analysis given here focuses on three fundamental issues, (1) the recoverability of a target loop when it is arbitrarily given, (2) the recoverability of a target loop while taking into account its specific characteristics, and (3) the establishment of necessary and sufficient conditions on the given system so that it has at least one recoverable target loop transfer function or sensitivity function. Various differences that arise in LTR analysis of continuous and discrete systems are pointed out.