Disturbance decoupling in linear systems via dynamical compensators — A parametric eigenstructure assignment approach

This paper proposes a simple method for disturbance decoupling in multivariable linear systems via dynamical output compensators based on complete parametric eigenstructure assignment. By establishing a sufficient and necessary condition for disturbance decoupling in linear systems via dynamical compensators in terms of the closed-loop eigenvalues and the two groups of design parameters provided by the eigenstructure assignment approach, the problem is converted into an eigenstructure assignment problem with an extra parameter constraint. A simple algorithm is proposed, which gives both closed-loop stability and the desired dynamical performance.