# RHP zeros in control systems

In the slides of the following link is expressed the concept I am trying to understand : slides

I am studying control systems. I have seen that if I have a zero in the RHP, by using decoupling I can move the zero from one input/output channel to another, so we can choose where it create less problems.

I have that this concept is not really clear to me. With a decoupler I can transform the transfer matrix into a diagonal matrix, so that the first input influences just the first output and the same for the other channels, but what does it means that I can move the RHP zero?

For example, consider the transfer matrix:

$$\G(s)=\begin{pmatrix} \frac{2}{s+1} & \frac{3}{s+2}\\ \frac{1}{s+1} & \frac{1}{s+1} \end{pmatrix}\$$

So, I am considering a system with two inputs and two outputs.

I use a decoupler of the type:

$$\\begin{pmatrix} -1 & 1\\ 1 & \frac{-2(s+2)}{3(s+1)} \end{pmatrix}\$$

then the transfer matrix after applying the decoupler will be:

$$\\begin{pmatrix} \frac{s-1}{s^{2}+3s+2} & 0\\ 0 & \frac{0.3s^{2}-0.3}{s^{3}+3s^{2}+3s+1} \end{pmatrix}\$$

It can be seen that the original transfer matrix has a zero in the right half plane, so with positive real part, at $$\s=1\$$ since $$\det(G(s))=0\$$ for $$\s=1\$$ .If I apply the decoupler I have that in both channels I have a zero at $$\s=1\$$ , so with positive real part, which imposes limitations in the achivable bandwidth in the frequency response.

So, what does it means that with the decoupling it is possible to move the unstable zeros from one channel to the other?

• I really don't think you mean MIMO in the context that you have linked it. Please review your usage of the term MIMO because it applies to radio and communications systems and not control systems. I notice that you also used MIMO incorrectly on some of your other questions too. – Andy aka Feb 12 '20 at 9:24
• Thank you for making me notice this. I have corrected the link. – J.D. Feb 12 '20 at 9:29
• Could you please state your problem more clearly. What does your RHP zero mean exactly, which transfer function does have it? Please explain your specific problem and what are you trying to achieve so we can help you more on point. – Antun Skuric Feb 12 '20 at 9:41
• I think the problem you have is that nobody I know would relate the term MIMO to control systems and, the usage of the expansion (multiple input multiple output) is also either meaningless, misleading or trivial in the context of Electrical engineering. I advise you to un-clutter those questions you have raised that use these terms. Having "a zero in the RHP in a MIMO system" is just the same as "having a RHP zero". – Andy aka Feb 12 '20 at 9:46
• @Andyaka SISO and MIMO are standard terms in control engineering. – user110971 Feb 12 '20 at 11:35