Abstract
Undershooting phenomena in step responses are undesirable for almost all servo systems. This paper is concerned with design conditions and design procedures of multivariable servo systems satisfying the following three conditions: i) internal stability, ii) output regulation, and iii) no undershooting phenomena of type A. The sufficient conditions and the procedures of constructing such servo systems by state feedback and by dynamic compensator are presented. If the number of the inputs of the plant is not less than that of the outputs and the plant has no invariant zeros, such servo systems can be realized by appropriate dynamic compensators. Design procedures with lower-order compensators are also proposed.
