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Linear multiple-input multiple-output (multivariable) control systems are considered. The intent of this report is to familiarize the working engineers with some of the developments in the area of robust multivariable control theory that have occurred in the past 10 years. The concepts of singular values are used to systematically develop robust control systems analysis and design techniques. The advantages and limitations of these techniques are discussed. Examples are used to illustrate the methods. Keywords: Roll attitude control; LQG/LTR(Linear Quadratic Gaussian with Loop Transfer Recovery); and Drone aircraft. (Author).
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