Abstract
This paper considers the problem of synthesizing linear multivariable servo systems which retain internal stability and output regulation in the presence of specified plant parameter perturbations. A necessary and sufficient condition of output regulation and conditions for existence of a pre-compensator such that the composite system of this and the given plant is observable and satisfies the output regulation criteria are given. The minimal order of such pre-compensator and an algorithm for the minimal-order pre-compensator synthesis are presented. A design procedurc of linear multivariable servo systems with parameter perturbations which consists of the pre-compensator and stabilizer synthesis is shown.
