Abstract.
This paper examines the limitations imposed by Right Half Plane (RHP) zeros and poles in multivariable feedback systems. The main result is to provide lower bounds on || WXV (s) ||infinity where X is S, S_I , T or T_I (sensitivity and complementary sensitivity). Previously derived lower bounds on the H-infinity-norm of S and T are thus generalized to the case with matrix-valued weights, including bounds for reference tracking, disturbance rejection, and input usage.