Compensator design for decoupling of multivariable systems by state feedback†

Abstract

This paper studies the design of series compensators necessary for decoupling of multivariable systems possessing weak inherent coupling by state feedback. An alternate characterization of weak inherent coupling is given in the form of an algorithm which plays a key role in deriving the properties and the general solution for the parameters of the compensator. A method of synthesis, which introduces the minimum number of dynamic elements in the compensator and places all its poles at the origin of the complex frequency plane, is given.