Decoupling with internal stability for unity output feedback systems

Abstract

This paper presents, for the first time, a necessary and sufficient condition for solvability of the decoupling problem with internal stability for square plants by unit output feedback compensation. It consists of some polynomial matrix coprimeness conditions and is concerned only with the greatest C+-divisor of the plant. Parameterizations of all decoupling compensators and achievable diagonal loop maps with internal stabilizability are given, and the results are also generalized in a very natural way to the decoupling problem with arbitrary pole assignment. Examples are included for illustration. © 1992.