AbstractThis paper introduces a design methodology for an optimal stabilizing compensator that not only minimizes the maximum tracking error but also minimizes the maximum amplitude of the undesired part of the output of a multivariable (MIMO) continuous‐time system due to any persistent bounded disturbances. For this purpose a two‐parameter compensator scheme is adopted in the design of the feedback system. This paper emphasizes that the optimal compensator design problem is equivalent to a constrainedL1‐norm minimization problem and its solution can be obtained by standard non‐linear programming r
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