On Decoupling Control for a Mechanical System with Parameter Perturbations

Abstract

Parameter perturbations on decoupling control problem of linear multivariable systems are discussed in this paper. Fabian & Wonham had considered this problem. But the class of parameter perturbations that they studied preserved the decoupling property restrictive. The new class of parameter perturbation which preserves only the decoupling property is derived here. The proposed procedure for calculating the class is useful to mechanical systems when parameter perturbations are confined to specific elements. Experimental results show that this method is effective for a simple mass-spring system. Robust stability is also discussed in this experiment.