  The plants of nano air vehicles (NAVs) are generally unstable, adversely
coupled, and uncertain. Besides, the autopilot hardware of a NAV has limited
sensing and computational capabilities. Hence, these vehicles need a single
controller referred to as Robust Simultaneously Stabilizing Decoupling (RSSD)
output feedback controller that achieves simultaneous stabilization, desired
decoupling, robustness, and performance for a finite set of unstable
multi-input-multi-output adversely coupled uncertain plants. To synthesize a
RSSD output feedback controller, a new method that is based on a central plant
is proposed in this paper. Given a finite set of plants for simultaneous
stabilization, we considered a plant in this set that has the smallest maximum
$v-$gap metric as the central plant. Following this, the sufficient condition
for the existence of a simultaneous stabilizing controller associated with such
a plant is described. The decoupling feature is then appended to this
controller using the properties of the eigenstructure assignment method.
  Afterward, the sufficient conditions for the existence of a RSSD output
feedback controller are obtained. Using these sufficient conditions, a new
optimization problem for the synthesis of a RSSD output feedback controller is
formulated. To solve this optimization problem, a new genetic algorithm based
offline iterative algorithm is developed. The effectiveness of this iterative
algorithm is then demonstrated by generating a RSSD controller for a fixed-wing
nano air vehicle. The performance of this controller is validated through
numerical and hardware-in-the-loop simulations.
