Noninteracting control of descriptor systems involving disturbances

For m-input p-output descriptor systems involving disturbances, it is proven that if the problem of disturbance rejection is solvable via static-state feedback and the input-output transfer function matrix is right invertible, there always exists a static-state feedback control law yielding, simultaneously to disturbance rejection, a triangular input-output relation. The structural properties of the closed-loop system (stability, pole assignment, etc.) are extensively studied.