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A theory of control and observation for linear constant multivariable systems with constant disturbances is presented that leads to design methods for linear regulators of both integral feedback and feedforward types. The properties of systems having more control inputs than the minimum required to regulate the outputs (systems with redundant controls) are examined. It is shown that the independent use of such redundant controls confers no significant benefit. The design of dynamic observers appropriate for such systems is developed. Extensions to a wide class of analogous stochastic systems are indicated. Examples are presented to illustrate the methods used.
Smith et al. (Sat,) studied this question.