Design Method of Multi-Input Multi-Output Minimum-Phase State Control System with Decoupling and Feedforward Compensation

Abstract

In this paper a design of the decoupling control of multi-input multi-output (MIMO) linear system is discussed. A new configuration of the prepositional tandem matrix is shown as a decoupling compensator, and the minimum-phase state control is applied to the resulting decoupled system. In general non minimum-phase characteristics is often accompanied to the decoupled systems. The feedforward compensation makes the non minimum-phase effect of each decoupled scalar system change to delay time. A numerical example is given for the MIMO linear system which conventionally results in non minimum-phase systems.