An algebraic theory for design of controllers for linear multivariable systems--Part II: Feedback realizations and feedback design

The study of general linear multivariable systems, with possibly different controlled and measured outputs, is continued in this part of the paper. The structure matrices, defined in Part I, are used to solve the feedback realization problem. Feedback realizable transfer functions are then used to solve problems of "regulator type." It is shown that the solutions to problems like disturbance deeoupling, output regulation, and pole placement are all special cases of the solution to a more general problem. Finally, it is shown how the results of Part I and Part II can be combined to solve problems of "servo type" and of "regulator type" simultaneously.