@article {IOPORT.04047521,
    author       = {Zafiriou, Evanghelos and Morari, Manfred},
    title        = {Digital controller design for multivariable systems with structural closed-loop performance specifications.},
    year         = {1987},
    journal      = {International Journal of Control},
    volume       = {46},
    issn         = {0020-7179},
    pages        = {2087-2111},
    publisher    = {Taylor \& Francis, London},
    doi          = {10.1080/00207178708934037},
    abstract     = {The paper treats multivariable discrete linear setpoint tracking and disturbance rejection in a uniform way. The design is thoroughly linear. It can be used in the first step of the controller design in which robustness properties are incorporated in the second step.},
    reviewer     = {A.Van\v{e}\v{c}ek},
    identifier   = {04047521},
}