Tracking in linear MIMO systems under external perturbations

Consideration was given to tracking the given trajectories of the output variables of the linear multiple-input multiple-output dynamic systems under uncontrollable external perturbations. A procedure to rearrange the mathematical model of a control plant in a consistent block form of controllability and observability of the output (measurable) variables with regard for the external perturbations was developed within the framework of the block approach. This form underlies the decomposition procedures of feedback design enabling one to track the given trajectories invariantly to the external perturbations.