Exercise  Let A 
 

  B  IC 
 


  D 
 

  

a Perform a controllability analysis of Gs

b Let x"  Ax  Bu  d and consider a unit disturbance d   z z
T  Which direction
value of zz
 gives a disturbance that is most dicult to reject
consider both RHPzeros and input saturation

c Discuss decentralized control of the plant How would you pair the variables