Dynamic Decoupling of MIMO Systems: Linear Case

The decoupling problem has received much attention in past years. For systems which do not have a diagonal interactor, a bicausal precompensation or static state feedback is insufficient for decoupling. In this paper we characterise conditions under which a system can be made decouplable by a diagonal dynamic precompensation. More specifically, we determine necessary and sufficient conditions under which diagonal dynamic precompensation exists which achieves a diagonal interactor.