Performance bounds for feedback control of non-minimum phase MIMO systems with arbitrary delay structure

The paper derives 2-norm performance bounds for the feedback control of discrete-time MIMO non-minimum phase (NMP) systems with arbitrary delay structure. Also, the associated optimal controller, in Youla-parameterised form, is explicitly obtained. The derivation of these results uses a special interactor matrix to extract the delays. It is shown that this interactor is unique, and a building algorithm is also proposed.