Interactor of linear time-varying multivariable systems and triangular decoupling control

An interactor of linear multivariable systems is an important concept for various control problems like the decoupling control, the model matching control, the disturbance decoupling control, the adaptive control, etc. In these control problems, the interactor equation plays a basic role and it also determines the structure of control systems. In this paper, this interactor equation is modified for linear time-varying multivariable systems. Since the modified equation has the same structure as for linear time invariant systems, many of the control system design methods can be extended to linear time-varying multivariable systems, using this interactor equation.