Abstract
This paper deals with the design problem of the stable multivariable system decopled by a state feedback together with a dynamic compensator. First some properties of the dynamic compensator of minimal order for decoupling are investigated, and then the condition is derived for the decoupled system with a dynamic compensator to be stable. Next it is shown that the decoupled system obtained by using both Silverman's method and Howze & Peason's method automatically not only satisfies the stability condition, but also contains a minimal order dynamic compensator. Finally the present analysis is extendend to the decoupling problem of a linear m-inputs r-outputs system, and the design procedure of the stable, decoupled system with a lower order dynamic compensator is described with a numerical example.
