... standard form [30], as shown in Figure 5.w(k)∈ Rp1 and z(k) ∈ Rm1are the exogenous p1inputs and m1outputs (to control), whereas u(k) ∈ Rp2 and y( k) ∈ Rm2are the p2control and ... scaling.Proposition 33 (Invariance to scaling). Ascalingwithpowersof 2 (U, Y,andW diagonal with Uii= 2ui, Yii= 2yi,Wii= 2wi with ui, yi and wi∈ Z) does not change the t ransferfunction ... Control, and Commu-nications, Cambridge University Press, Cambridge, UK, 2008.[28] A. B. Sripad and D. L. Snyder, “A necessary and sufficientcondition for quantization error to be uniform and white,”IEEE...