Robust stabilisation of multivariable feedback systems with desired performance requirement

A design criterion is developed to achieve the following goals simultaneously: input-output decoupling of multivariable feedback systems; complete and arbitrary closed-loop pole assignment; desired zero assignment for reference signal tracking; and robust stabilisation of multivariable feedback systems subjected to time-varying nonlinear uncertainties. Thus, the requirements of performance as well as stability robustness of a multivariable feedback system will be simultaneously met by employing this design criterion. Moreover, by minimising the H^infinity -norm of each channel of the closed-loop transfer matrix, one can obtain the robustness optimisation of the system. A practical example, the lateral flight control of a control configured vehicle, is given to illustrate the validity of the proposed design algorithm.