Dominance improvement by pseudodecoupling

Pseudodecoupling enables the design of frequency-dependent precompensators (postcompensators) to improve the column (row) dominance of the compensated plant over an extended range of frequencies. This allows diagonal dominance to be achieved for a wider range of plants than was previously possible. The procedure arises from generalising Hawkins´s pseudodiagonalisation procedure in a number of directions; in particular, stability of the compensator is guaranteed. Log ¿ plots are introduced as a means of determining the degree of dominance over a wide frequency range.