Design of precompensators via infinite-zero structure for dynamic decoupling of linear invertible systems

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Abstract
The problem of designing precompensators necessary for decoupling invertible systems having weak inherent coupling is considered. A simple algorithm, which is directly applicable to systems characterized by square proper transfer function matrices T(s), is proposed for such design. In the proposed algorithm the concept ‘row reducedness at infinity’ of T(s) is utilized as an alternative, necessary and sufficient condition for the decouplability of T(s). In addition to the simple design procedure of the compensator, the algorithm yields the infinite-zero structure of both T(s) and the resulting compensated system.

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