Multivariable system synthesis with step disturbance rejection

The question of achieving a variety of specific design goals (e.g., arbitrary pole placement, decoupling, and exact model matching) for linear multivariable systems subjected to unknown step disturbances on the entire internal state and output is constructively resolved via a synthesis procedure which simultaneously combines integral feedforward compensation with asymptotic state estimation. The technique relies on the ability to express the desired closed-loop transfer matrix of the compensated system as the product of the open-loop transfer matrix and any proper rational transfer matrix, assuming the given system has no zeros at the origin and a stable closed-loop design is sought. The method employs some recent results involving the differential operator approach to multivariable system analysis and synthesis, and the treatment is confined almost exclusively to the frequency domain.