This routine computes the feedback, feedforward and tracking components of the optimal generalized minimum variance controller such that the cost function
is minimized, and subject to the linear plant, unmeasurable disturbance and set-point models: , measurable disturbance model: and the reference model: . The measurable disturbance contains an additional delay of ii steps and the reference signals is assumed to be known pp steps into the future.
[...] = gmvffc(A,Bk,Dk,...) computes the GMV controller for MIMO plants (in RMF format) using Polynomial Toolbox. Dk in this case is a diagonal polynomial matrix of pure delays or could also be given as a scalar (common delay).
[...,F,G,H,Df,Dc] = gmvffc(...) returns also the solution to the Diophantine equations and the spectral factors.
, measurable disturbance model: 
. The measurable disturbance contains an additional delay of