Relation between Model Feedback Control Systems and the Parametrization of All Stabilizing Controllers for Multiple-input/Multiple-output Plants

In this paper, we examine model feedback control systems. Since model feedback control is simple and has characteristic to simplify the shaping of the sensitivity function and the complimentary sensitivity function, the model feedback control system has been applied in many applications such as the trajectory control of robot manipulators, serially connected tanks, etc. The control structure of the model feedback control system is limited, and nothing has been reported about whether or not model feedback control can represent all of the stabilizing controllers for multiple-input/multiple-output plants. The purpose of this paper is to give a solution to the question as to whether or not all stabilizing controllers for a multiple-input/multiple-output plant are expressible in the model feedback control structure.