Parametrization of all decoupling compensators and all achievable diagonal maps for the unity-feedback system

Decoupling in a linear, time-invariant (LTI), multi-input, multi-output (MIMO) unity-feedback system is considered. A parameterization is given of all stabilizing compensators which achieve decoupling in the unity-feedback system. It is assumed that the plant transfer-function, matrix is full row-rank and does not have unstable poles coinciding with zeros.<>