On the characterization of a minimal-order robust servocompensator

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Abstract
In recent papers (Davison 1972, 1975, 1976, Davison and Goldenberg 1975), Davison and co-workers have given the characterization of a minimal-order robust feedback controller containing an error-driven compensator which achieves asymptotic tracking and disturbance rejection using state space methods. More recently, Desoer and Wang (1977, 1978) rederived the minimal order of a similar controller (Ferreira 1976) using frequency domain methods. It is the purpose of this paper to give a detailed demonstration that the latter controller must contain a Divison servocompensator (Davison and Goldenberg 1975) using frequency domain methods. This adds perspective and information to Desoer and Wang (1978, 1977 : Proof of the Corollary of Theorem IV. 1).

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