Discrete-time loop transfer recovery for systems with nonminimum phase zeros and time delays,

-The purpose of this paper is to study what happens when the discrete-time loop transfer recovery (LTR) procedure is applied to plants with nonminimum phase zeros and with uniform time delay in all channels. Explicit expressions are given for the asymptotic behavior of the resulting sensitivity function and loop transfer function. These results yield a better understanding of the mechanism of the discrete-time loop transfer recovery procedure and the design limitations due to nonminimum phase zeros and time delays.