ABSTRACT
The design of non-diagonal (full-matrix) controllers for MIMO systems with model uncertainty is still one of the most difŽcult challenges faced in control engineering. Problems like the compensator/controller matrix structure, sensor-actuator pairings, input-output directions, loops coupling, transmission zeros, etc., become much more difŽcult when the plant presents model uncertainty. In the last few decades, a signiŽcant amount of work on MIMO systems has been published.
