This article demonstrates that many general forms of pre-compensators can be included in a Multi-Input-Multi-Output (MIMO) plant with a very general state-space description and the augmented plant can be reduced to static output feedback (SOF) form that is required for optimal design. The main contribution lies in solving very cumbersome algebraic matrix equations, for each configuration, to separate the unknown parameters after the optimal static output feedback gain matrix is achieved. Once the designers see that such configurations with chosen pre-compensators can be dealt with, they would be motivated to consider a suitable configuration for the specific application and finally achieve low cost controllers that are simple to implement and require low computational power.

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