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Abstract
A least-squares controller which guarantees stability in advance for a given plant is presented. There are no restrictions on the plant matrix; which may be non minimum phase, stable, unstable, or with an infinite number of zeros. The controller has the distinctive unique feature that the closed-loop poles or the characteristic equation of the closed loop of the multivariable system can be specified in advance to achieve a certain sensitivity function. The controller is capable of rejecting stochastic as well as deterministic disturbances, and has a satisfactory tracking performance. The method is particularly applicable when the modern Wiener-Hopf design fails, especially if the plant gives rise to a non-positive-definite matrix. The method has engineering features of immediate appeal. The designer can specify the poles of the closed-loop system in advance and has the freedom to shape the sensitivity of the system for any required range of frequencies desired.