A decentralized controller for the robust stabilization of a class of MIMO dynamical systems

This work deals with the problem of the robust stablization of a class of multi-input multi-output (MIMO) dynamical sytems. A simple decentralized controller is proposed, which reduces to the clasical PID controller in case of single-input single-output dynamical systems. Such a controller includes integral actions for the compensation of the entire dynamics of the system. The paper is completed with an application to robotic systems.