Simplified, ideal or inverted decoupling?

This paper presents a comparative study of simplified, ideal and inverted d ecoupling. The stability, robustness and implementation of the three decoup ling methods are studied. The structured singular value (SSV) is used to ca rry out some comparisons. It is demonstrated that robust performance and ro bust stability of a nominally stable control system are equivalent for the three decoupling methods when the controllers are tuned to obtain identical nominal performance. A relation is derived between the presence of right-h alf plane (RHP) zeros of a process in series with its simplified decoupler and the instability of the ideal and inverted decouplers for the same proce ss. This paper also describes a potential implementation problem related to the particular structure of the inverted decoupling. Finally, a recapitula tive table of the main advantages and limitations of each decoupling method is presented. (C) 1998 Elsevier Science Ltd. All rights reserved.