Phase and gain margins for MIMO linear control systems

In practice phase and gain margins are very effective measurement of robustness for single-input-single-output (SISO) linear control systems. There are in the literature several attempts to protract these fundamental concepts to multi-input-multi-output (MIMO) linear control systems. Nevertheless, these results do not exactly match the concept and power of the original context of the SISO case. A different situation was presented with the introduction of the framework referred to as Individual Channel Analysis and Design (ICAD). Under ICAD the natural and original concept of phase and gain margin is preserved and used to obtain effective controllers for linear MIMO systems. An important aspect of ICAD is that the common tools and results of classical control are extended to MIMO systems. Unfortunately ICAD is not widely known to the control community. The aim of this work is to highlight the main aspects and power of ICAD through a design example.