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Control of nested systems

This paper presents an input-output point of view for the problem of optimal command following and disturbance rejection of systems which are comprised of subsystems that affect each other in a nested manner. In such a nested manner, a subsystem affects the subsystems that are exterior to it but not the subsystems that are interior to it. By using model matching methods the problem is shown to be convex. Techniques to solve this convex yet non-standard problem are discussed.