DECOUPLING OF MULTIVARIABLE SYSTEMS VIA ORTHOGONAL STRUCTURE THEOREM

The construction, based on orthogonal transformations, of the state va riable gain feedback matrix which decouples a multivariable system and simultaneously assigns a stipulated number of poles is developed in t his paper. The criterion to ensure whether the system can be decoupled or not does not need the computation of higher powers of a matrix. Th e proposed method is, therefore, claimed to be numerically reliable. M oreover, a reliable way of computing the controllability subspace of t he pair (A,B) emerged as a byproduct.