Triangularization technique for the design of multivariable control systems

The paper presents a novel technique for the design of multivariable control systems. A stable and proper precompensator is to be determined for a multivariable plant such that the compensated plant transfer function matrix is triangular and diagonally dominant in a nonstandard way. As a consequence of the triangular-diagonal-dominance property, only the diagonal elements need to be considered in an over-all closed-loop design. In effect, the technique provides a systematic procedure to reduce a multivariable design problem to independent scalar design problems.