Structured State Feedback by Gain Matrix Factorization with Application to the Integrated Design of a Flexure-Linked Dual-Drive Gantry

This note shows that by introducing a factorization method to the gain matrix, any linearly structured state feedback control problem can be transformed to a decentralized control problem with possible identical block constraints. Subsequently, the resulting robust decentralized constraints are formulated as a convex set on the parameter space. This yields a convex optimization problem that can be solved efficiently. The integrated mechantronic design of a flexure-linked dual-drive gantry demonstrates the application prospects.