Abstract
This paper studies the design of compensators to pseudodecouple multivaria ble systems. One of the methods that allow more flexibility in the design is the one developed by Mason, Daly et al. This method is used to design polynomial continuous compensators but can not be extended to design discrete control systems. This paper is devoted to extend this method to discrete control systems. The main pro blem is the calculation of some integrals. This was solved in the method mentioned before in the continuous case using an algorithm due to Gold, Kaiser et al. Here, a new algorithm is proposed, that allows to carry out these calculations either in the continuous or discrete case. The algorithm is based on a table due to Astrom and it has shown to have similar computer time consumption that the other, but with the advantage of being suitable for the design of discrete control systems also In section II, the general method is developed. Section III is devoted to the new algorithm. In section IV an example is given and conclusions are stated in section V.
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