Dynamic state feedback decoupling with stability

A method for designing a dynamic state feedback compensator so as to achieve decoupling of a stable square linear multivariable system is presented. The stability of the resulting closed-loop system is established. The computations are conducted entirely in state-space form, contrary to other existing algorithms for dynamic state feedback decoupling. Thus, when the initial system is given in state-space form, the algorithm does not require any conversion from transfer function to state space, and vice versa, which is quite involved for MIMO systems