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Two-stage controller design with integral action and decoupling
Proceedings of 35th IEEE Conference on Decision and Control
Two-stage stabilizing controlIer design methods that achieve type-m integral action and diagonal inputoutput transfer-functions are developed for linear, time-invariant, multi-input multi-output feedback systems. Integral action can be achieved with the proposed configurations if and only if the given plant is full row-rank and has no transmission zeros at zero. All stabilizing controllers with at least m integrators in each output channel are explicitly characterized. A parametrization of alldoi:10.1109/cdc.1996.577605 fatcat:vr7mjf7vx5fizdg4qoy2wkjdwi