A novel decoupling control method for multivariable systems with disturbances

This paper presents a novel decoupling method for multivariable systems with disturbances. In this method, the undesirable coupling parts in each loop are treated as the output disturbances. These disturbances, as well as the external disturbances, can be actively rejected by the equivalent-input-disturbance (EID) approach. The parameters of the controller in each loop can be designed independent of each other. A typical example demonstrates the simplicity in parameters design and good performance in decoupling control and disturbance rejection.