The design of multivariable ripple-free deadbeat controllers is a complex task. One approach which has shown promise for solving multivariable ripple-free deadbeat control (MRFDC) problems is the use of Diophantine equation parameters. The problem of solving robust multivariable ripple free deadbeat with time delays has not been solved. This paper proposes a hybrid two degree of freedom control...

This doctoral thesis treats three issues in control engineering related to relay feedback and multivariable control systems. Linear systems with relay feedback is the first topic. Such systems are shown to exhibit several interesting behaviors. It is proved that there exist multiple fast relay switches if and only if the sign of the first non-vanishing Markov parameter of the linear system is p...