Multivariable decoupling pole assignment self-tuning feedforward controller

Presents a new multivariable self-tuning feedforward controller which not only achieves pole assignment but also realises static and dynamic decoupling control. The proposed controller can handle systems with different time delays between inputs and outputs. It is able to eliminate tracking errors and the effect of measurable disturbances. Static and dynamic disturbance rejection is realised. Simple explicit self-tuning algorithms are given. Two simulation examples are given to show the effectiveness of the proposed controller