The strictly proper discrete-time controller for the normalizedleft-coprime factorization robust stabilization problem
Iglesias, P.A.
Automatic Control, IEEE Transactions on
Volume 45, Issue 3, Mar 2000 Page(s):516 - 520
Digital Object Identifier   10.1109/9.847735
Summary:For the discrete-time, normalized left-coprime factorization robust stabilization problem, it is known that a simple formula for the maximum robustness margin exists. Moreover, the controller can be written in exact observer form. Analogous results are derived when the controller is restricted to be strictly proper

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