THE FREQUENCY DOMAIN DESIGN OF APPROXIMATELY DECOUPLING AND NORMALIZING COMPENSATORS FOR MULTIVARIABLE SYSTEM

The method presented here illustrates how to specify a set of diagonal elements qii(s) i = 1,2, m of the open loop transfer function matrix (TFM) Q(s) to obtain such a precompensator K(s) that satisfies the requirements of stability, decoupling, robustness and dynamic behavior of output. This method is suitable for computer-aided design (CAD) since the whole design procedure are accomplished by computer except specifying qii(s). A 4×4 examples are included.