Multivariable decoupling controller using multiple models for a non-minimum phase system

A multiple models direct adaptive decoupling controller is presented to improve the transient response. It consists of multiple fixed models and two adaptive models. The fixed models are mapped from the system parameter models directly and used to cover the controller parameter set with their neighborhoods.Bythe1choiceofthe weighting polynomial matrix, it not only eliminates the steady output error, but also decouples the system statically. The analysis of global convergence is given. SimulationG*1examplesillustratethatthetransient response of non-minimum phase systems is greatly improved, by using the multiple models adaptive decoupling controller.