Abstract
The decoupling problem for linear time-invariant multivarialbe systems has been extensively investigated. Many results which have been obtained so far are important from the theoretical point of view, but it is also important to develop efficient and accurate computational procedures for sythesizing decoupling control systems. But, thorough study along these lines has not yet been made. In this paper, we give a new decoupling algorithm. On the basis of Hessenberg forms, we give a necessary and sufficient condition for state feedback decoupling and a procedure for constructing a decoupling control law. Since this algorithm involves only orthogonal transformations, the numerical stability is guaranteed. A system representation similar to the CD system is introduced in order to check the internal stability. A numerical example is given.
