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K. Havre and S. Skogestad, ``Achievable -performance of multivariable systems with unstable zeros and poles'', Preprints 14th IFAC World Congress, Beijing, July 1999, Vol. D, 391-396.

Abstract.
This paper examines the limitations imposed by Right Half Plane (RHP) zeros and poles in multivariable feedback systems. The main result is to provide lower bounds on || WXV (s) ||infinity where X is S, SI , T or TI (sensitivity and complementary sensitivity). Previously derived lower bounds on the H-infinity-norm of S and T are thus generalized to the case with matrix-valued weights, including bounds for reference tracking, disturbance rejection, and input usage.