Abstract
The stability-equation method is extended to the analysis and design of multivariable control systems. The systems are first compensated by constant precompensating matrices, and then compensated by lead/lag compensators. The method can take into consideration integrity and asymptotic behaviour simultaneously. In addition, other considerations, such as high frequency alignment and low-interaction at high frequency, can be analysed. Numerical examples are given and comparisons made with other methods in the current literature.
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