The object of this monograph is to present some optimal design methods in a certain sense for obtaining linear multivariable feedback systems such that they become insensitive or robust properties. The treatment is mainly confined to linear time invariant discrete systems with the exception of the sections 3.1 and 3.3 in which it was used linear time-invariant conti nuous systems. Sensitivity and robust methods for multivariable feedback systems have been extensively studied about the last decade and the successful development has led to a much better under standing of the performance of...