A general decoupling precompensator for linear multivariable systems with application to adaptive control

A general precompensator for decoupling a wide class of multivariable systems is presented. This class may include nonminimum-phase systems and/or open-loop unstable systems. It is also shown how pole placement control and adaptive control strategies can be incorporated with the precompensator. Several simulation results illustrate the good tracking performances of the proposed control scheme. As the closed-loop system obtained by combining the precompensator with SISO (single input, single output) controllers is always dynamically decoupled, the proposed control strategy is very suitable for tracking problems