Optimal decentralized control design with disturbance decoupling

In this paper we present an input-output point of view for the problem of closed loop norm minimization of stable plants when a decentralized structure and a disturbance decoupling property axe imposed on the controller. We show that this problem is convex and present approaches to its solution in the optimal l(1) sense in the nontrivial case which is when the block off-diagonal terms of the plant have more columns than rows.