... 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 ... Commande des systèmes linéaires, Hermès, IC2 series, 2002. [MOL 77 ] MOLINARI B.P., “The Time-Invariant Linear- Quadratic Optimal Control Problem”, Automatica, vol. 13, p. 34 7- 3 57, 1 977 . [VAU 70 ] ... −11() () () ( ) ( )BOTpKpGpKpIABKLCLCpIAB [6 .79 ] Figure 6.9. Analysis of stability margins 182 Analysis and Control of Linear Systems Figure 6 .7. Observer by quadratic optimization This...