Two-channel decentralized integral-action controller design

We propose a systematic controller design method that provides integral-action in linear time-invariant two-channel decentralized control systems. Each channel of the plant is single-input-single-output, with any number of poles at the origin but no other poles in the instability region. An explicit parametrization of all decentralized stabilizing controllers incorporating the integral-action requirement is provided for this special case of plants. The main result is a design methodology that constructs simple low-order controllers in the cascaded form of proportional-integral and first-order blocks