About dynamic decoupling of a nonlinear MIMO dynamic plant

The paper presents a method of synthesis and implementation of the multi-controller control structure for a dynamic decoupling of the multi-input multi-output (MIMO) nonlinear dynamic plant. The proposed structure uses some known techniques in order to reduce effects of coupling of the nonlinear plants inputs and outputs. A multi-controller structure is created after linearization of the adopted nonlinear plant model at its operating points and synthesis of the linear controller that dynamically decouple the local linear plant model. Such an adaptive controller varies its parameters depending on the current plant operating point. The presented simulation results confirm applicability of the proposed method.