Abstract
An n × n non-linear multiple-input multiple-output system W is presented, known only to belong to a set {W}. W is embedded in a two-degree-of-freedom feedback structure, {r} is a set of possible command inputs, where for each r ∊ {r} there is a set {A r } of acceptable outputs. The two degrees of freedom have to be selected such that in response to each command input r, the plant's output y ∊ {Ar } for all W ∊ {W}, A design technique is presented for solving this problem, based on the Horowitz design method for MIMO linear time invariant feedback systems. Sufficient conditions are given under which a solution is guaranteed. A design example is provided.
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