Sensitivity analysis of networked control systems via an information theoretic approach

This paper deals with an MIMO feedback control system that has two channels with additive noise and studies the effects of the noise on the input and output signals of the plant. We derive integral-type limitations for sensitivity-like properties of the feedback system based on an information theoretic approach. It is shown that they are generalizations of Bode¿s integral formula for the case that the feedback system includes nonlinear elements.