Quantitative non-diagonal regulator design for uncertain multivariable system with hard time-domain constraints

In this paper a non-diagonal regulator, based on the QFT method, is synthesized for an uncertain MIMO plant whose output and control signals are subjected to time-domain constraints. This procedure includes the design of a non-diagonal pre-controller based on a new simple approach, followed by the sequential design of a diagonal QFT controller. We present a new formulation for the latter stage, which shows the role of off-diagonal elements in the design procedure. A numerical example is given to illustrate the effectiveness of the proposed method.