Feedback system design: The tracking and disturbance rejection problems

The problem of designing a compensator for a specified plant which simultaneously stabilizes the resultant feedback system and causes it to track a prescribed family of inputs and/or reject prescribed disturbances is considered. A set of linear design equations, in the space of stable systems, is formulated in a general linear systems setting and an explicit parameterization of the resultant solution space is obtained for a class of "generalized multivariate" systems. The theory is illustrated with several single and multivariate examples.