Q)In the attachments, you can find an equation (from page 9).

Please, How did you

assume this equality and why the right side must equal to the left?

Exactly, we use K to be equivalent to the first two terms to cancel the uncertain terms.

In addition K2 and K3 must satisfy:

Im actually expecting the reviewers to comment about how can we satisfy both.

The problem is that F is diagonal and Rd is in the form .

0 0 0
Example for 2DOf with G= [[ ] then Rd = [ ]. Then how can we satisfy
1 0 𝑘𝑣

I will try to solve this but if you can find a solution it would be great.