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Decoupling by precompensation while maintaining stabilizability

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2 Author(s)
Linnemann, A. ; Dept. of Electr. Eng. Control & Syst. Theory, Kassel Univ., Germany ; Maier, R.

Plants with two inputs and two outputs are considered. Necessary and sufficient conditions are presented for the existence of a 2×2 precompensator such that the series connection of precompensator and plant is stabilizable and has a diagonal transfer function matrix. The set of all diagonal transfer function matrices achievable by a precompensator of the above form is characterized. The results admit a solution to the decoupling problem by unity output feedback compensation for 2×2 plants

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Automatic Control, IEEE Transactions on  (Volume:38 ,  Issue: 4 )