Decoupling of Complementary Sensitivity and Robust Stabilization on Diagonal Dominance

Abstract

This paper presents decoupling of complementary sensitivity and robust stabilization on diagonal dominance for MIMO systems. The decoupling can be achieved by model bridge control system with the state feedback for decoupling and the observer for the observable diagonal-model of the nominal plant. The system with uncertainties in the gain and the phase range for diagonal elements and under the maximal gain for non-diagonal ones can be robustly stabilized by adjusting diagonal elements of complementary sensitivity on the basis of diagonally dominant systems.