Disturbance optimal suppressing for MIMO systems with stability degree constraint

The optimal disturbance Suppressing problem for MIMO systems affected by external sinusoidal disturbances based on stability degree constraint is presented in this paper. The purpose is to find an LQR optimal controller, by which the cost function minimum and the state with the optimal having a higher mean-square convergence rate can be obtained. A LQR control law is derive from a Riccati equation and Matrix equations. The existence and uniqueness conditions of the optimal control law are given. Finally, we give a practical example to illustrate the effectiveness of the theory.