A new method for multi-variable control was proposed in McFarlane and Glover (1988a). This method involved the shaping of the open-loop singular values with pre- and/or post-compensators and then the designing of a controller to robustly stabilise a normalised coprime factorisation of this weighted plant. The method has many attractive features, including guaranteed loop shape and robust stability and performance. This paper will outline the rationale of this method and illustrate its use on a number of applications.
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