Decoupling Control

Decoupling or non-interactive control has attracted considerable research attention since the 1960s when control engineers started to deal with multivariable systems. The theory and design techniques for decoupling control have now, more or less matured for linear time-invariant systems, yet there is no single book which focuses on such an important topic. The present monograph fills this gap by presenting a fairly comprehensive and detailed treatment of decoupling theory and relevant design methods. Decoupling control under the framework of polynomial transfer function and frequency response settings, is included as well as the disturbance decoupling problem. The emphasis here is on special or relatively new compensation schemes such as (true and virtual) feedforward control and disturbance observers, rather than use of feedback control alone. The results are presented in a self-contained way and only the knowledge of basic linear systems theory is assumed of the reader. Introduction....Pages 1-9 Representations of Linear Dynamic Systems....Pages 11-64 Stability and Robustness of Feedback Systems....Pages 65-114 State Space Approach....Pages 115-128 Polynomial Matrix Approach....Pages 129-185 Transfer Matrix Approach....Pages 187-235 Delay Systems....Pages 237-266 Near-Decoupling....Pages 267-292 Dynamic Disturbance Decoupling....Pages 293-325 Asymptotic Disturbance Decoupling....Pages 327-356