This paper deals with intrinsic performance limits achievable by feedback control. We give analytical expressions of the optimal tracking and regulation problems for linear shift- invariant single-input and multiple-output (SIMO) discrete-time systems. For the former, we modify the existing results by means of the delta operator and show that the continuous-time counter- part results can be properly recovered from this point. For the latter, we derive a discrete-time result first and show the conver- gence property.
                        
                        
                        
                        
                            
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