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This paper is concerned with the solvability and controller synthesis of the decentralized servo problem in the case where the outputs of each agent are required to track different types of reference commands without steadystate errors. Necessary and/or sufficient conditions for the solvability are derived. These lead to the fact that the conventional solvability condition for the robust decentralized servo problem is a sufficient condition for this problem. A synthesis procedure of decentralized servo systems is proposed based on these solvability conditions. It is also shown that the total order of the designed servo compensators may be smaller than that of the conventional one. Three numerical examples certify these results.

Solvability of Servo Problem and Synthesis of Servo Systems for Decentralized Control Systems