This paper presents a new and unified treatment of feedback control for linear multivariable time-invariant systems, using reduced-order dynamic output feedback to recover state feedback properties. A set of free design parameters are effectively exploited in achieving desirable performance tradeoffs, through solving Lyapunov-like matrix equations.
On Robust Parametric Dynamic Output Feedback
Zohdy, M. A., Abdul-Wahab, A. A., Loh, N. K., and Liu, J. (September 1, 1990). "On Robust Parametric Dynamic Output Feedback." ASME. J. Dyn. Sys., Meas., Control. September 1990; 112(3): 507–512. https://doi.org/10.1115/1.2896172
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