Extension of l(1)-optimal robust tracking to the multivariable case

Previously, a complete approach to forming controllers for. single-input/si ngle-output plants was presented. These controllers were designed to track a specific maneuver in the presence of disturbances, sensor noise, and unce rtainty in the plant model. By use of a simplified version of the Youla par ameterization, the process was split into two optimizations, referred to as tracking and robustness. The method is extended to plants with any number of inputs or outputs.