Abstract
Given a system, which is not necessarily invertible and which has an unequal number of inputs and outputs, a CAD package of “squaring down”, that is, designing pre- and postcompensators such that the resulting system has equal number of inputs and outputs and that is invertible is presented. The designed compensators are in general dynamic and have the property that the additional finite zeros induced by them are in the lelf-half complex plane. Furthermore, the designed compensators are stable, and hence do not deteriorate the robustness and performance of an eventual feedback design.
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