U. Zühlke and A.S. Hauksdótter (Iceland)
Decoupling control, multivariable systems, direct term, reference tracking
Decoupling controllers are well known, but mostly for systems without a direct term. Several practical algorithms for decoupling controllers have been found, e.g., the complete modal synthesis. In this paper, extensions for systems with a direct term are made. The conditions for complete decoupling with a direct term are given, both for the case if the invariant zeros are cancelled and also if they have to remain intact in the case when unstable invariant zeros are present. The findings are illustrated with an example.
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