Nonparametric decoupling of MIMO systems

The base functions approach has been recently proposed in the literature, in conjunction with digital finite impulse response (FIR) filters, as an effective method for set point tracking optimisation in single-input single-output (SISO) two-degree-of-freedom (2-d.o.f.) regulators. That method is here extended to treat the problem of decoupling multi-input multi-output (MIMO) system, paving the way to establish a unified approach to deal with set point tracking optimisation and decoupling as well. The newly conceived methodology stands out as a promising (auto)tuning solution for the decoupling part of MIMO regulators. A simulation example is reported to demonstrate the method effectiveness, and practical usefulness.