Decoupling of linear multivariable system using PD output feedback

In this paper a method for decoupling has been presented for a specific case of MIMO system. Falb's row by row decoupling concept is utilized for developing the control law using proportional-derivative (PD) output feedback. The solutions for integrator type and specific pole type decoupled system are presented. Necessary and sufficient condition for the existence of PD output feedback decoupling is determined. Using this procedure, multiple sets of PD output feedback gains (Ko, Fo, Γo) can be obtained for a given decoupled system transfer function matrix. The results are validated using two examples.