“…The authors of Ref. 4 derive the important result that if certain similarity and minimum-phase conditions are satisfied, the closed-loop poles can be made asymptotically insensitive to Presented as Paper 86-2051 at the AIAA Guidance, Navigation, and Control Conference, Williamsburg, VA, Aug. [18][19][20]1986; received March 29, 1988; revision received Sept. 16,1988 parameter uncertainties by allowing particular weighting matrices in the linear quadratic regulator (LQR) problem and covariance matrices in the Kalman-Bucy filter (KBF) problem to approach infinity. Because of the way these matrices are chosen, the regulator and filter gains will approach infinity as well.…”