ABSTRACT
This chapter builds upon the introduction to quantitative feedback theory (QFT) that is presented in Chapter 2. It presents an in-depth understanding and appreciation of the power of the QFT technique. This is accomplished by Žrst presenting an introduction of the QFT technique using the frequency-response method as applied to a single-loop MISO system and an overview of the design procedure. Next a discussion of minimum-phase (m.p.) performance speciŽcations is presented. The remaining portion of the chapter is devoted to an in-depth development of the QFT technique as applied to the design of robust single-loop control systems having two inputs, a tracking and an external disturbance input, and a single output (a MISO system).218
