Abstract
A design method, which decouples an interactive system by using a compensator obtained from the plant inverse matrix, which is often called the direct-decoupling method is modified in this paper. The modified direct-decoupling method uses the adjoint matrix instead of the inverse of the plant matrix to construct the compensator. The method uses a frequency-domain model-reduction method to simplify the degree of the given plant transfer function matrix and the obtained compensator. For an open-loop stable multivariable system, the proposed method gives a simple, practical, and realizable controller without using an unstable pole-zero cancellation approach.
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