Design of decoupled repetitive control for MIMO systems

This paper introduces the design of decoupled repetitive control (RC) for multi-inputs multi-outputs (MIMO) system. The design is started by decoupling the MIMO system into separate single-input single-output (SISO) models. Then, a set of low order and causal RC compensator is designed for each single-input single-output (SISO) model obtained from decou-pling. The compensators that ensure the RC stability condition, are obtained by solving optimization problems. Simulation results are given to demonstrate the effectiveness of the proposed design.