Model following using partial state feedback

This short paper considers the problem of designing a compensating control scheme for an observable linear multivariable plant using partial state feedback so that the impulse response matrix of the resulting system exactly corresponds to the impulse response matrix of a prespecified linear model. A procedure is given for the synthesis of the compensator that does not require a separate realization for the plant observer. A sufficient condition is given for the internal stability of the model following system.