A discrete/continuous MIMO control design algorithm for state stabilization and disturbance accommodation

This paper describes a generalized algorithm for designing discrete/continuous (D/C) state-stabilization controllers for multi-input, multi-output (MIMO) linear systems. The algorithm is a straightforward, step-by-step construction procedure that provides the desired closed-loop response while automatically estimating plant and disturbance states and optimally accommodating external disturbances. The control design algorithm is implemented and tested in MATLAB/Simulink for three special cases. Simulation results are shown, and areas for future study are identified.