Nonminimum phase zeros in the general feedback configuration

Design limitations due to nonminimum phase plant zeros have been extensively studied for unity feedback systems. We now study these limitations in a general feedback architecture that allows for arbitrary exogenous and control inputs and performance and measured outputs. Motivation to do so is that many feedback systems have more complex architectures than the single input, single output architecture typically used to study design limitations. While it is difficult to make concrete statements without assuming additional structure, it is also possible to demonstrate that certain design limitations are present in very general circumstances. The results are applied to the problems of command tracking and disturbance attenuation for a military tank.