Interpretation of Kitamori's Partial-Model-Matching Method in a Descriptor-Form Expression

A partial model-matching controller proposed by Kitamori based on the transfer function in denominator-expanded form, is re-formulated into the descriptor form, which consists of exponential, static, and impulsive modes. By considering order changes as shifts in modes, it is shown for I-PD controller case that the resulting controller can accommodate order changes of the plant and controllers.