Abstract
This paper is exclusively devoted to the multivariable exact model matching, based on the recognition that decoupling control is nothing but the special case of exact model matching where the reference model transfer matrix is chosen as a diagonal matrix. An extremely simple design procedure in the frequency domain which achieves multivariable exact model matching is presented, where an interactor associated with the plant transfer matrix plays an important role. It is illustrated that the existence of diagonal interactor is the condition for obtaining a decoupling control system by state variable feedback only, from the view point of the structure of a more general decouping control system. The zeros of the plant are canceled by state variable feedback, and n-m poles of the plant can be arbitrarily assigned, where n is the number of plant zeros while m is that of plant zeros.
