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The implementation of the decomposition of linear discrete-time multivariable problems through either singular values/principal directions, or eigenvalues/eigenvectors is inherently anticausal. One way to avoid this is to introduce a 'pseudodelay' into the controller, but this is undesirable. Here the problem is examined in the scalar case, and a new algorithm proposed which deploys a kernel to characterise all the available degrees of freedom, and thus overcome completely the problems of delay and anticausality.
Control Theory and Applications, IEE Proceedings D (Volume:140 , Issue: 2 )
Date of Publication: Mar 1993