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.