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Robust Regulation Theory for Transfer Functions With a Coprime Factorization

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Original languageEnglish
Number of pages6
JournalIEEE Transactions on Automatic Control
Publication statusPublished - 2015
Publication typeA1 Journal article-refereed


Classical frequency domain results of robust regulation are extended by requiring only a right or a left coprime factorization of a plant, but not both. The famous internal model principle is generalized first, which leads to a necessary and sufficient solvability condition of the robust regulation problem and to a parametrization of all robustly regulating controllers. In addition, a procedure for constructing robustly regulating controllers is proposed.


  • Frequency-domain analysis, Nickel, Robustness, Stability analysis, Topology, Transfer functions, Yttrium, Distributed parameter systems, linear systems, parametrization, robust control

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Field of science, Statistics Finland