Integral constraints on sensitivity vectors for multivariable linear systems

This paper develops integral constraints on sensitivity vectors for multivariable feedback systems due to either unstable poles or non-minimum-phase zeros of the plant. The results presented cover the continuous (rational or distributed) case, and are based on the use of directions corresponding to zeros or poles of the plant. The integral constraints are in vector form, and give new insights into the inherent trade-offs in sensitivity reduction for multivariable systems and the cost of decoupling.

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