Simultaneous model matching and disturbance rejection by state feedback

The model matching problem (MMP) and the disturbance rejection problem (DRP) have received much attention respectively, but to the best of our knowledge we propose here for the first time a complete structural solution to the simultaneous MMP and DRP by state feedback. This problem is of high practical and theoretical importance, as for instance the simultaneous I/O decoupling and DRP. Structural conditions nicely enhance the role played by the zeros, both finite and infinite.