Brief paper - Decoupled periodic compensation for multi-channel output gain margin improvement of continuous-time MIMO plants

This study achieves superior multi-channel output gain margin (MOGM), compensation of continuous-time, linear time-invariant (LTI), non-minimum-phase, unstable, multi-input-multi-output (MIMO) plants by first input-output decoupling these in open-loop and then effecting zero placements of the decoupled loops using single-input-single-output (SISO) periodic feedback. The condition that allows this controller to yield arbitrarily large MOGM is also found out. An example is considered to illustrate the design procedure and the capability of this controller.