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This paper analyzes system's model and gives a kind of model which can be feedforward decoupled. First, get the parameters by on-line identification to proximately describe the real system. Then, the model is feedforward decoupled. Finally, using the fast algorithm, the control result is calculated. This fast algorithm not needs to compute the Diophantine equation and inverted matrices on line. The paper also present a method to reduce interaction, the simulation results show its efficiency.