The role of nonminimum phase zeros in the transient response of multivariable systems

Nonminimum phase zeros are known to cause fundamental performance limitations in the system transient response, particularly undershoot and overshoot. Much of the available literature deals with scalar-input scalar-output systems. In this paper we consider the role of nonminimum phase zeros on the transient response of multivariable systems. We explore via examples the extent to which such zeros may imply undershoot or overshoot in the transient response.