Robust Noninteracting Controller Design

The design of a linear state feedback noninteracting (decoupling) controller for a given system is considered. An attempt is made to use the available design freedom to reduce the magnitude of loop interactions. When the number of inputs equals the number of outputs, the only available design freedom is in selecting some of the closed-loop poles. When there are more inputs than outputs, it was shown that there is a limited freedom in selecting the closed-loop eigenstructure, i.e. both closed-loop poles and their eigenvectors, of the decoupled system.