  The paper presents a distinctive and straightforward technique for
stabilization of multi-variable systems. The idea is to decouple the system
state matrix depending on different inputs and outputs. Refined special
canonical transformations are described for the design of controller and
observer for a single-input and single-output (SISO) case and are extended to
multi-input multi-output (MIMO) systems. These transformations help in the
stabilization of the error dynamics of the observer and in placing the closed
loop poles of the system. The idea is not only in the transformations taken but
also how the gain matrices are selected which simplifies the computation.

Systems and Control;Systems and Control