Section 6.1 The Quasi-Ho Smith Predictor Case 2: Consider a bit more complex case.Assume that the plant has a zero in the RHP: Gs)=KW-(s-2s+1) M-(s) where z>0,N_(0)=M_(0)=1,and deg{N-+1<deg{M-).Solve the weighted sensitivity problem again: llW(s)S(s)ll=lIW(s)[1-G(s)Q(s)]ll ≥IW(z)I The optimal controller is obtained as follows: Qopt(s)= M-(s) KN_(s) 4口，+@，4定4=定0C Zhang.W.D..CRC Press.2011 Version 1.0 7/74Section 6.1 The Quasi-H∞ Smith Predictor Case 2: Consider a bit more complex case. Assume that the plant has a zero in the RHP: G(s) = KN−(s)(−z −1 r s + 1) M−(s) where zr > 0, N−(0) = M−(0) = 1, and deg{N−} + 1 ≤ deg{M−}. Solve the weighted sensitivity problem again: kW (s)S(s)k∞ = kW (s)[1 − G(s)Q(s)]k∞ ≥ |W (zr)| The optimal controller is obtained as follows: Qopt(s) = M−(s) KN−(s) Zhang, W.D., CRC Press, 2011 Version 1.0 7/74