Design of multi-input multi-output systems with minimum sensitivity

A state-space approach is used to find a state-space realization of a transfer function that minimizes a sensitivity measure. The sensitivity measure to be minimised is the continuous-time equivalent of a sensitivity measure defined by V. Tavsanoglu and L. Thiele (1984) for digital filters. A class of realizations that minimizes this sensitivity measure is discussed and a method for finding the sparest realization in this class is presented. The theory is extended to include the case of multi-input, multi-output (MIMO) systems realizing a function matrix.<>