Design of decentralized control systems by the combined use of external equivalents and dynamic decoupling

A method for the design of decentral controllers is described. It is based on the use of an external equivalent for the approximation of all other subsystems when designing a specific subsystem controller. The thereby obtained interdependence of the design tasks is overcome by the concept of dynamic decoupling. By application of this scheme to the extended subsystem, decoupling with respect to the approximation error rather than to the other subsystems is achieved.