Matrix pencil characterizations of disturbance decoupling for systems with direct feedthrough matrices.

In this paper new necessary and sufficient conditions are given for the disturbance decoupling problem with or without stability and pole placement for linear time-invariant systems with direct feedthrough matrices, based on matrix pencil theory. All results are proved on the basis of a condensed form that can be computed using orthogonal matrix transformations, i.e., transformations that can be implemented in a numerically stable way. [ABSTRACT FROM AUTHOR]