A PRECOMPENSATOR DESIGN TO ACHIEVE DECOUPLING IN THE FREQUENCY DOMAIN

Abstract

This paper deals with the problem of designing a precompensator by using the frequency domain approach for systems which have weak inherent coupling. A necessary and sufficient new condition for decoupling is given which is the basis of the first algorithm suggested to achieve dynamic decoupling. Another algorithm is presented for the same purpose, by making use of the interactor matrix idea. For each method all the poles of the precompensator can be assigned arbitrarily and the construction does not depend upon the control law used.