A near-decoupling design of multivariable feedback systems with the V-canonical compensator

Abstract

In this paper a practical procedure is proposed for the decoupling design of multivariable feedback systems. The so-called V-canonical compensator is used to remove the need for inversion of the plant transfer function matrix. The cross-coupling in the plant is first expressed in terms of the equivalent disturbance. Then a strictly-decoupling formula is established to reduce this equivalent disturbance. Ultimately, nearly-decoupling control is concerned with the design of a realizable compensator.