In the present paper, we study on a control design using parallel compensation technique for multiple inputlmultiple-output systems. Parallel compensation technique is applied to many control design problems such as simple adaptive control , robust control systems using phase information and the parameterization of all proper stabilizing controllers for minimum phase strictly proper systems. The parallel com pensation technique is used so as to expand applicable plant of simple adaptive control and robust control systems using phase information. Recently, the relationship between controllers that is obtained using parallel compensation technique and the parameterization of all stabilizing controllers was considered.However, the relationship between controllers that is obtained using parallel compensation technique and the parameterization of all stabilizing controllers for multiple-inputlmultiple-output systems has never considered. In the present paper, we consider this problem and give the necessary and sufficient condition that the class of controllers that is obtained using parallel compensation technique equal to that of controllers for the multiple-inputlmultiple-output systems.

In the present paper, we examine model feedback control systems (MFCSs). Because MFCSis simple, the MFCS has been applied in many applications such as the trajectory control of robotmanipulators, serially connected water tanks, etc. The control structure of the MFCS is limited, butYamada and Moki reported about whether or not MFCS can represent all of the stabilizing controllersof a minimum phase plant. However, no research has been reported whether or not MFCS can representall of the stabilizing controllers of a non-minimum phase plant. The purpose of the present paper isto give a solution to the question as to whether or not all of the stabilizing controllers for a plantare expressible in the MFCS structure. The relation between MFCS and the parameterization of allstabilizing controllers for a class of non-minimum phase plants is shown. A simple design method tospecify control characteristics is also presented.

In the present paper, we examine model feedback control systems (MFCSs). BecauseMFCS is simple, the MFCS has been applied in many applications such as the trajectorycontrol of robot manipulators, serially connected water tanks, etc. The control structure of theMFCS is limited, but Yamada and Moki reported about whether or not MFCS can representall stabilizing controllers of a minimum phase plant. However, no research has been reportedwhether or not MFCS can represent all stabilizing controllers of a non-minimum phase plant.The purpose of the present paper is to give a solution to the question as to whether or not allstabilizing controllers for a plant are expressible in the MFCS structure. The relation betweenMFCS and the parameterization of all stabilizing controllers for a class of non-minimum phasemultiple-input/multiple-output plants is shown. A simple design method to specify controlcharacteristics is also presented.