Abstract
The stability-margin bounds are given for a linear decoupled system which is realized by a constant-gain state feedback. The sensitivity is also derived as the function of the transfer function matrix of the decoupled system. These results are extended to a decoupled system in which pole-zero cancelations can partially be avoided. It is investigated how an observer takes part in them in the case of output feedback. Finally, it is shown that the robust stability and sensitivity are more adjustable by using a Howze-Pearson dynamic compensator in order to completely avoide the polezero cancelations.
