Abstract
Bode and Poisson type integral inequalities for the complementary sensitivity function are derived in this paper for multi-input multi-output systems, which generalize earlier work of a similar nature but only applicable to single-input single-output systems. The results characterize how open loop nonminimum phase zeros may adversely affect a system's performance, and how each of the zeros may couple with other nonminimum phase zeros and unstable poles to impose a severe limitation on the achievable performance quantified by the complementary sensitivity function, to which the zero directions are seen to play a central role.
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