Tracking problem on output values under effect of external disturbances

The paper deals with tracking problem in linear multidimensional dynamic systems for predetermined trajectory of output variables under unmeasurable external disturbances. The step-by-step transformation procedure of initial linear system to joint controllability and observability block form with respect to output values subject to external disturbances was presented. Tracking problem synthesis of feedback and observer was performed with respect to the same transformed coordinates without inverse transform.