On reducing the order ot the stabilizing compensator for a linear multivariable plant

The text covers an in-depth study on the order of the compensator applied in a feedback system for stabilization of the linear, time-invariant, n-th order, multivariable plant. It is shown that all such compensators evolve from the n-th order structure depicted in two forms in Fig. 2 (dotted lines). Presentation includes the so-called reduced and subreduced order compensators and the case of a static output feedback, i.e. the compensator of order zero. All theoretical considerations are supported by examples, in which various types of compensators are synthesized.