Controller Design for a Class of Multivariable Tracking Systems with Slow and Fast Modes

In this paper singular perturbation methods are used to provide a basis for the design of reduced order tracking systems for a class of multivariable linear time-invariant plants whose output vectors are required to track reference inputs satisfying a linear vector ordinary differential equation with constant coefficients. These results constitute a generalization of those previously obtained by Porter [1,2] for plants with step reference inputs and polynomial type reference inputs and are illustrated by designing a tracking system for a second order singularly perturbed plant.