Further results for the equivalent-input-disturbance approach and application to decoupling control

This paper extends the equivalent-input-disturbance (EID) approach to handle a non-strictly proper system and applies this method to decoupling control of a multiple-input, multiple-output (MIMO) system. First, the configuration of the control system is constructed, and a stability condition of the system is derived. A design method is developed under the guarantee of the stability condition. Then, the undesirable coupling parts and disturbances in an MIMO system are treated as an integrated disturbance. The disturbance is rejected using the EID approach. Finally, simulations demonstrate that the method achieves good effect for both disturbance rejection and decoupling control.