A solution to the diagonalization problem by constant precompensator and dynamic output feedback

A solution is presented for the problem of diagonalization (row-by-row decoupling). The problem is solved using a constant precompensator and a dynamic output feedback compensator of a p*m linear time-invariant system. The solvability condition is compact and concerns the dimension of a single subspace defined via the concepts of essential rows and static kernels associated with the transfer matrix. A characterization of the set of all solutions to the problem is also given. In solving this dynamic feedback problem, a complete solution to its state-feedback counterpart, namely, the restricted state-feedback problem of diagonalization, is also presented.