MATH319 Slides
163 Youla’s stabilising controllers
165 Appendix: MATLAB commands for matrices
164 Proof
Suppose that
K
=
X
/
Y
. Then, as in frame 161,
I
+
G
K
=
1
+
X
Y
P
Q
=
Y
Q
+
X
P
Y
Q
=
1
Y
Q
;
so
1
1
+
G
K
=
Y
Q
and hence
Φ
has all entries in
𝒮
, since
Φ
=
Y
Q
[
1
-
P
/
Q
-
1
X
/
Y
1
-
X
/
Y
P
X
/
Y
Q
P
/
Q
1
]
=
[
Y
Q
-
Y
P
-
Y
Q
X
Q
Y
Q
-
X
Q
X
P
Y
P
Y
Q
]
.