Achievable sensitivity bounds for MIMO control systems via an information theoretic approach

This paper deals with an MIMO feedback control system that has two channels with additive noises and studies the effects of the noises on the input and output signals of the plant. We derive achievable bounds of integral type for sensitivity-like properties of the system based on an information theoretic approach. These bounds are generalizations of Bode's integral formula for the case that the feedback system includes nonlinear elements.