Dynamic and robust regular I/O decoupling: A polynomial approach

It is shown that for the case of minimum phase stable plants there exists, among the set of stabilizers controllers, a solution, simultaneously decoupling the outputs and attenuating the perturbations of the system. At the same time, the dynamics is assigned to stable positions. The attenuation is given by an approximation of the controllers rejecting the perturbations, which are singulars. These results are used to tackle the tracking problem.