Design of decoupled non-linear multivariable stochastic control systems

Abstract

A technique is presented for decoupling a non-linear system with input disturbance, The class of matrices which decouple the nominal system is first obtained. Then, the free parameters in the feedback matrix are selected to minimize the effect of disturbances on the output by minimizing a performance index which involves the input-output error magnitude. An example is presented to illustrate the approach.