Linear systems with multivariable 3-term controllers: use of the matrix pseudoinverse in their synthesis

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Abstract
The formal use of the Penrose pseudoinverse in the solution of the multivariable-controller-synthesis problem was Outlined by the author in a previous letter. In the present letter, the pseudoinverse is evaluated in canonical form to provide a simple computational algorithm for the specification of the proportionality matrices in the control system. An illustrative example is provided.