Sensitivity Trade-off in Linear Multivariable Nonminimum Phase Systems

We consider linear multivariable nonminimum phase systems. We propose a family of Butterworth-like functions as prospective bounds for sensitivity. We show that by considering this class of functions, it becomes very easy to determine whether a sensitivity bound is admissible, and the design of stabilizing controller to satisfy a prespecified admissible sensitivity bound becomes a standard H¿ optimization problem.