Simultaneous strong stabilization and tracking controller design for MIMO systems

A systematic controller synthesis method is presented for simultaneous stabilization with asymptotic tracking of step-input references for linear, time-invariant, multi-input multi-output plants. Necessary and sufficient conditions are derived for existence of simultaneous integral-action controllers and in particular, simultaneous PID-controllers. Strong simultaneous stabilization using low order PD-controllers as well as simultaneous stabilization with zero steady-state error using PID-controllers can be achieved for the class of plants under consideration.