Low order integral-action controller synthesis

A simple controller synthesis method is developed for certain classes of linear, time-invariant, multi-input multi-output plants. The number of poles in each entry of these controllers depends on the number of right-half plane plant zeros, and is independent of the number of poles of the plant to be stabilized. Furthermore, these controllers have integral-action so that they achieve asymptotic tracking of step input references with zero steady-state error. The designed controller's poles and zeros are all in the stable region with the exception of one pole at the origin for the integral-action design requirement. The freedom available in the design parameters may be used for additional performance objectives, although the only goal here is stabilization and tracking of constant references.