Compensation theory of multivariable root loci
D.H. Owens · Proceedings of the Institution of Electrical Engineers · 1979
By regarding system compensation as the manipulation of the asymptotic directions and pivots of the root locus of the closed-loop multivariable system, the paper describes a general framework for the construction of forward path and minor loop compensation elements for a square, invertible plant with a transfer-function matrix G(s). The approach is based on the use of dynamic transformations of G and the properties of the inverse plant G−1.