The Parametrization for The Class of All Proper Stabilizing Controllers for Multiple-Input/Multiple-Output Minimum Phase Systems

In this paper, we examine the parametrization of all proper stabilizing controllers for multiple-input/multiple-output minimum phase systems. Glaria and Goodwin first gave the parametrization of all stabilizing controllers for the single-input/single-output minimum phase systems. Their parametrization has practical difficulties. One is the free parameter of their parametrization has constraint for the controller to be proper. The other is that they do not give the parametrization of all internally stabilizing controllers. Yamada overcame these problems and proposed the parametrization of all proper internally stabilizing controllers for single-input/single-output minimum phase systems. However, no paper examines the parametrization of all internally stabilizing controllers for multiple-input/multiple-output minimum phase systems. In this paper, we propose the parametrization of all proper internally stabilizing controllers for multiple-input/multiple-output minimum phase systems