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=. Qpirho2,

, A=sqrt(beta1)*A1

, B1=

, B=sqrt(beta1)*B1

. Q=[qx and . Qxpi,

Q. Qpi,

(. Big=sysdiag and R. ,

, Big

. M=syslin,

. A+b*fy,

, Py Fy spec(A+B*Fy) abs(spec(A+B*Fy))

. Azz=,

. Qyz=,

Q. Qpirho2,

. Bs=-azz,

. As=(a+b*fy,

*. Cs=qyz+as, . Py, and . Ayz,

(. Pz=sylv, . As, and C. S. Bs,

, AS*Pz*BS+Pz-CS

, AS*Pz*BS+Pz-CS

. N=-inv, Py)*Pz

(. Fz=inv, *. R+b'*py, and . B)*b'*, Py*Ayz + Pz*Azz

, APPENDIX B: Wonham theorem and pole placement

, Let A and B be real matrices of dimension n n and n m respectively, Let = f, vol.1