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I. Postlethwaite and S. Skogestad, ``Robust multivariable control using methods - Analysis, design and Industrial Applications'', Essays on Control: Perspectives in the Theory and its Applications, H.L. Trentleman and J.C. Willems (Eds.), Birkhauser, 1993 (Lecture notes for invited short course at the 1993 European Control Conference), 269-337.

Abstract.
The purpose of this paper is to introduce the reader to multivariable frequency domain methods including H-infinity-design. These methods provide a direct generalization of the classical loop-shaping methods used for SISO systems. We also aim to provide a basic understanding of how robustness problems arise, and what analysis and design tools are available to identify and avoid them.