In this paper, a design method of control systems which achieves disturbance rejection for the multiple-input systems using a dual observer is proposed. This method is extended our earlier work to more general case and has the following advantages.(1) An unobservable subspace of arbitrary dimension in the state space could be made by dual observer.In strictly multiple-input systems, poles of the unobservable subspace could be assigned arbitrarily. Therefore, according to the construction of the unobservable subspace using this method, the disturbance rejecting systems could be constructed. In this regards, the validity of constructed control system is shown by the numerical simulations for 3-mass spring system.

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Two design methods of IVC (Initial Value Compensation) gain which are called the J-min method and the zero-assign method have been proposed. In this note, the inverse proplem, namely, the problem which minimizes the performance index in the J-min method by a given IVC gain is investigated, and the relationship between design methods is clarified.