FEEDBACK REPRESENTATION OF PRECOMPENSATORS - APPLICATION TO DECOUPLING LINEAR MULTIINPUT MULTIOUTPUT PLANTS

In this paper we examine the problem of internally stabilizing, and si multaneously diagonally decoupling, a linear multivariable system by t wo-parameter compensation. Based on our earlier results (Boussaid and Guerin 1996) we prove that any given plant (P) of full row rank can be decoupled with stability by the considered configuration. Computation of the decoupling compensators follows by easy constructions. The dec oupling problem with a minimum number of unstable zeros in the decoupl ed system is also formulated and solved in the 'generic' case.