Abstract
An output-feedback controller has been recently proposed that has the following features: (1) it is an inner-loop controller so that it can be added on the existing closed-loop system working in harmony with a pre-designed (possibly non-robust) outer-loop controller, (2) it robustifies the closed-loop system in a way that the uncertain plant under external disturbance becomes a nominal plant without any disturbance, (3) it recovers the trajectory of the nominal closed-loop system in time domain. However, it is restricted to the single-input-single-output systems. In this paper, we extend this result for a class of multi-input-multi-output (MIMO) linear systems having the same number of inputs and outputs. The used tools in this synthesis are the singular perturbation theory and the multi-variable circle criterion.
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