A frequency domain design technique for multivariable control systems

The authors propose a frequency-domain technique for the design of multivariable control systems by matching the frequency responses of the compensated closed-loop system and a `desired´ closed-loop system. It is a generalization of the single-input single-output technique. The unknown controller parameters are determined by minimizing a weighted mean-square error between the frequency responses of the compensated closed-loop system and the desired closed-loop system, which leads to solving linear algebraic equations involving the controller parameters. The technique is illustrated by a numerical example