Minimal-order compensators for decoupling and arbitrary pole placement in linear multivariable systems

Publisher Website
Google Scholar
Abstract
Linear multivariable systems that can be decoupled by state-variable feedback are considered. The problem of arbitrary pole placement and/or decoupling by means of output feedback via a dynamic compensator is first obtained through algebraic decoupling theory, Then an optimization problem in the free compensator parameters is derived by defining a performance index that measures both the amount of coupling in the closed-loop system and, when pole placement is also desired, the error in the closed-loop pole locations. The theory necessary for solving this optimization problem by means of standard gradient algorithms is developed. Minimal-order solutions are obtained because the compensator structure considered is quite general. Two illustrative numerical examples are presented.