... the condition of detectability by a careful choice of matrix Q. 162 Analysis and Control of Linear Systems case of multi -control systems. As indicated in Chapter 2, the equations of state can ... at the expense of a stronger control. 176 Analysis and Control of Linear Systems Figure 6.6. Stabilization by quadratic optimization 166 Analysis and Control of Linear Systems Figure ... [FAU 84 ] FAURRE P., ROBIN M., Eléments d’Automatique, Dunod, 1 984 . [FRI 86 ] FRIEDLAND B., Control System Design, Mc Graw-Hill, 1 986 . [KWA 72] KWAKERNAAK H., SIVAN R., Linear Optimal Control Systems, ...