Dynamic and robust regular I/O decoupling: A polynomial approach

It is shown that for the case of minimum phase stable plants there exists, among the set of stabilizers controllers, a solution, simultaneously decoupling the outputs and at-tenuating the perturbations of the system. At the same time, the dynamics is assigned to stable positions. The at-tenuation is given by an approximation of the controllers rejecting the perturbations, which are singulars. These results are used to tackle the tracking problem.