Abstract
In this paper the design problem of decoupling control system is studied for the linear time-invariant systems which contain timedelays in the control variables. The new state feedback law which can be realized practically has the term consisting of the past informations about control variables in addition to the conventional feedback law. By introducing this feedback contool law, the decoupling of the system can be attained for the broad class of multivariable systems with time-delay elements.
Further, we have introduced the concept of input transformation for relaxing the constraints on the state prediction problem of the decoupling systems, so that the actual design conditions are improved considerably compared with the conditions proposed by Rekasius et al..
Similar problem stated here was treated by Nakanishi et al. in the general form. However, their conditions are seemed to be complicated, so we gave a similar results as Corollary 1 of Theorem 2 in legible form.
