Decoupling linear dynamical systems using disturbance accommodation control theory

Unwanted coupling between linear dynamical systems can cause instability even when each system is individually stable. In this paper, we demonstrate how to design a disturbance accommodating controller to automatically cancel the unwanted coupling and to allow each system to behave as if the coupling didn´t exist. This approach can be effective even when little is known about the ldquophysicsrdquo of the coupling-disturbance.