This paper presents a practical design perspective on multivariable feedback control problems. It reviews the basic issue-feedback design in the face of uncertainties-and generalizes known single-input, single-output (SISO) statements and constraints of the design problem to multiinput, multioutput (MIMO) cases. Two major MIMO design approaches are then evaluated in the context of these results.
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Doyle et al. (1981) studied this question.
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