For the multivariable control system described by 2 = A x + B u , y = Cx, z = D x (wherey is the measured output and z the output to be regulated) conditions are given for the existence of a controller which preserves output regulation and loop stability, in the presence of small parameter variations in controller and plant. Under mild conditions, such a "strong" synthesis is shown to exist if and only if the regulator problem with internal stability (RPIS) is well-posed. Synthesis is achieved by means of a feedback configuration which in general incorporates an invariant, and suitably redundant, copy of the dynamic model adopted for the exogenous disturbance and reference signals which the system is required to process.1. Introduction. In this paper we investigate the "regulator problem with internal stability" (RPIS) introduced in [1], from the viewpoint of well-posedness and genericity in the sense of [2], and of parametrically insensitive implementation. Subject to mild restrictions it is shown that, if and only if RPIS is well-posed, a controller can be synthesized which preserves output regulation and loop stability in the presence of small parameter variations, of a specified type, in controller and plant. Such a "strong" synthesis is achieved by means of a feedback configuration which in general incorporates an invariant, and suitably redundant, copy of the dynamic model adopted for the exogenous reference and disturbance signals which the system is required to process. The design technique is a systematic development of the method sketched in [1], §6.As in [1] we consider the system

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This paper is concerned with tho study of controllability of linear systems with delay in the control function. It has been illustrated that many of the techniques which proved to be useful in the study of linear systems with no delay (Kalman et al. ] 962, Kroindlcr and Sarachik 1064) call be generalized when dealing with systems having delay in the control.An explicit expression is given for transferring a given state to RIlY desired state using minimum control energy.Tho corresponding conditions for linear time-invariant systems (Sebakhy and Bayoumi 1971) are obtained as a special case. Extensions to mult.iple delays systems are also included.A new degree of controllability is introduced and the corresponding criteria are obtained.