Abstract
This paper deals wi th diagonal decoupling problems of right invert ible systems. A new necessary and sufficient condition is given for diagonal decoupl ing using restricted static state feedback alone. From the computational point of view, this condition is more suitable than those previously known. Based on the developed condition, a simple applicable algorithm for time and frequency domains is produced. The given technique is also extended to systems which need additional input dynamics. In such case, a stable and minimal order precompensator is guaranteed. The presented algoritluas yield all classes of solutions and use scalar operations.
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