Design of precompensator for a diagonal interactor using Markov parameters

AbstractAn interactor plays a basic role in the design problems of multivariable control systems, such as the model matching control, decoupling control, adaptive control, and disturbance decoupling control. For example, it is well known that a linear multivariable system is decouplable by the static state feedback if and only if it has a diagonal interactor. But, in general, the interactor is a lower left triangular matrix, which makes the design problems of multivariable control systems complicated. From this point of view, the precompensator such that the total system has a diagonal interactor is important for multivariable control systems to simplify their design procedure. This paper concerns the systematic design method of the precompensator for a diagonal interactor using Markov parameters of the plant. It will also be proved that this compensator is always obtained by the proposed design algorithm. Furthermore, this argument will be a basic idea when this technique is applied to the nonlinear multivariable systems. © 2008 Wiley Periodicals, Inc. Electr Eng Jpn, 163(1): 65–72, 2008; Published online in Wiley InterScience (www.interscience.wiley.com). DOI 10.1002/eej.20599