Matrix analysis
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Consideration was given to the model coordination-based decentralized control of a system of MIMO subsystems for each of which a reference model of response to the input action is defined. Weakened--as compared with what is known from the literature--existence conditions were determined for solution and analytical description of the control laws of local controllers assuring for all local subsystems the desired transfer matrices of forced output motion. At that, tracking of the reference models is related with realization of a collection of precompensators defined by the resulting formulas and does not constrain the choice of feedbacks of each subsystem. A numerical example was given.