The design of a precompensator for multivariable adaptive control-a network-theoretic approach

A network-theoretic approach to the design of a dynamic precompensator C(s) for a multiinput, multioutput plant T(s) is considered. The design is based on the relative degree of each element of T(s). Specifically, an efficient algorithm is presented for determining whether a given plant T(s) has a diagonal precompensator C(s) such that, for almost all cases, T(s)C(s) has a diagonal interactor. The algorithm also finds any optimal precompensator, in the sense that the total relative degree is minimal. The algorithm can be easily modified to work even when a T(s) represented by a nonsquare matrix is given.<
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