Abstract
An interactor plays a basic role in the design problem of multivariable control systems, e.g., the model matching control, decoupling control, adaptive control, disturbance decoupling control, and etc. For example, it is well known that the linear multivariable system is decouplable by the static state feedback if and only if it has a diagonal interactor. But, in general, the interactor is a lower left triangular matrix, which makes the design problem of multivariable control systems complicated. From this point of view, the precompensator so that the total system has a diagonal interactor is important for multivariable control system to simplify its design procedure. This paper concerns the systematic design method of the precompensator for a diagonal interactor using Markov parameters of the plant. It will be also proved that this compensator is always obtained by proposed design algorithm. Furthermore, this argument will be a basic idea when this technique is apply to the non-linear multivariable system.
