Design of high-gain compensators in multivariable systems

In this paper, we present a systematic design approach for the high-gain compensation of multivariable systems which are invertible and minimum phase. By introducing the notion of the "generalized differential interactor", the compensator can be designed to possess upper triangular dynamics in which the output response of the closed-loop system for non-zero initial conditions can be made as fast as desired without unbounded peaking occurring.