Abstract
This paper is concerned with a dynamic feedback compensator which is necessary for achieving both decoupling and arbitrary pole assignment in a linear multivariable system. The order of the dynamic compensator is directly determined by only the information of the transfer function matrix of a given system without realizing an integrator decoupled system by state feedback. A new decoupling algorithm obtaining a dynamic feedback compensator is proposed, which is based on a simple relation required to avoid pole-zero cansellation in a decoupled system. A modified decoupling algorithm is also presented for deriving a dynamic feedback compensator of low order which arbitrarily shifts closed loop poles except fixed ones canceled with zeros in the open left half-plane.
