Model reference robust control for MIMO systems

Model reference robust control (MRRC) is derived for MIMO systems that have a right Hermite normal form which is SPR and diagonal, and then for systems whose right Hermite normal form is diagonal but not SPR. It is shown that MRRC of multiple input multiple output (MIMO) systems is an extension of model reference control (MRC) of MIMO systems and MRRC of SISO systems. Unwanted coupling exists in many physical MIMO systems. The recursive backstepping procedure used in non-SPR SISO systems cannot be directly applied to diagonal MIMO non-SPR systems without the introduction of the augmented matrix or a precompensator. It is shown that MRRC decouples MIMO systems using only input and output measurements rather than state feedback