The Solution of Robust Decoupling Problem

This paper presents the concept of loop-decoupling as a means of robust input- output decoupling of MIMO systems. A class of multivariable systems may be designed with sufficient stability robustness by imposing post-compensators in order to make the modified plants diagonal, then dynamic compensators could be found, as in conventional single-input-output design, for each decoupled loop in order to achieve robust stabilization. Therefore, each loop features sufficient robustness to the gain perturbations involved in each channel between the actuator outputs and the plant inputs. A stable precompensator is then chosen for the robustly stabilized system to achieve robust input-output decoupling.