Performance bounds in MIMO linear control with pole location constraint

In this paper, achievable performance bounds in the linear control of stable MIMO linear discrete time systems are derived. The cost function to be minimized is the 2 - norm of the tracking error for a vector step reference, under the constraint that the closed loop poles lie in a prescribed region. The computation of the performance limitation requires the factorization of the plant model using interactors, which capture the finite and infinite non-minimum phase zeros, and their associated directions. The controller achieving the optimal bound is also computed.