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On the solvability of the global monotonic tracking for subsets of output components

This paper deals with the problem of designing a state-feedback plus feedforward controller for multiple-input multiple-output (MIMO) linear time-invariant (LTI) systems to monotonically track constant step references at any desired rate of convergence for arbitrary initial conditions. We show in particular how the solution of this problem can be generalized whenever the full global monotonic tracking is not achievable, but monotonicity is only required for some specific output components.