Squaring down and the problems of almost zeros for continuous-time systems

In this paper we construct precompensators which square down a system such that the resulting square system has the same unstable zeros and system gains We derive the mlmmal gain of the precompensator to achieve such a square system If the gain of this precompensator Is too large then we derive an explicit trade-off between the gain of the precompensator and the number of unstable zeros we allow the precompensator to introduce in the system