A Polynomial Matrix Approach for the Solution of the Robust Morgan's Problem via Restricted state Feedback

The robust Morgan's problem, via restricted static state feedback and constant precompensator, is studied for nonsquare linear time-invariant systems with nonlinear uncertain structure, using a polynomial matrix approach. Sufficient solvability conditions are established. A class of independent from the uncertainties static controllers solving the problem is explicitly characterized and the respective decoupled closed loop system is analytically determined.