Abstract
The matrix polynomial equation XlDr + YlNr = Dk is solved for Xl and Yl, leading to proper compensators Xl-1Yl for a closed-loop system in the negative unity feedback configuration with a strictly proper plant in the form of coprime factorization NrDr-1. All proper compensators are described in a parametrization whose computation relates to the polynomial row-echelon form. Applications include stabilization of linear multivariable systems.
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