MIMOtool (Multi Input Multi Output tool, previously known  as MvTools, for Multivariable Tools) is a toolbox for Matlab 5.3 (working fine until 7.7) developed within the Department of Electrical Systems and Automation (DSEA), University of Pisa, with the aim to offering to the Matlab users (especially control engineers and control engineering students) a complete toolbox for linear systems analysis and robust control synthesis.

It is not meant to replace the main control synthesis toolboxes, but instead it uses them as "engines", yielding a single environment in which all their best capabilities are integrated and easily achieved. 

In short, the main Idea behind this toolbox is allowing the user to perform, without leaving the interface, every step of the typical control system design:

This is the main window that introduces the program:

This is the Modeling window, used to perform tasks as balancing,
model reduction, and similar:

This is the Analysis window, used to check controllability, 
observability, poles and zeros positions, singular values
and all kinds of general info:

Here there are more examples about analysis :

This is the main Synthesis window:

There are up to 12 control synthesis method allowed:

And here are some examples from the synthesis section:

The Controller Optimization section allows the user to search for a controller
 that is optimal with respect to a certain linear cost function:

The Evaluation section allows the user to evaluate in every detail
the closed loop behavior of the controller:

Here are some examples about the evaluation section:

Finally, a Simulink scheme (which is rebuilt every time on the basis of the
specific model and control that we are using), features the closed loop simulation:

An help file in HTML format is provided, and is accessible within the program.