Closed-loop balanced realizations in the analysis of suboptimally and stability of decentralized systems

A new suboptimality index is defined. The suboptimality introduced by a reduced order compensator, designed by the closed-loop balancing approach [2] is calculated and shown to be directly related to the so-called "closed-loop characteristic values". Stability conditions in terms of closed-loop characteristic values, for decentralized order control with local models are presented and their suboptimality are analyzed.