Robust decoupling of discrete systems using ℒ1 optimization

We address a control design problem related to decoupling, namely robust decoupling. The idea of robust decoupling is defined and shown to be equivalent to robust performance of a Hadamard-weighted L¹ performance measure. A necessary and sufficient condition to determine if a compensator satisfies robust performance of a Hadamard-weighted L¹ performance measure in the presence of structured uncertainty is given. This condition can be used to determine if a compensator robustly decouples a plant. Finally, an iterative scheme for synthesizing a robust decoupling controller is discussed