Simultaneous stabilization and step tracking for MIMO systems with LTI controllers

It is shown that any number of MIMO plants that have no zeros in the region of instability can be simultaneously stabilized using low order linear, time-invariant integral-action controllers. These plants may be stable or unstable and may have poles anywhere in the complex plane. The common controller achieves asymptotic tracking of step-input references with zero steady-state error and has a low order transfer-function. Systematic synthesis methods are presented, and a parametrization of all simultaneously stabilizing controllers with integral-action is also provided.