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《Control Theory & Applications》 1987-01
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THE FREQUENCY DOMAIN DESIGN OF APPROXIMATELY DECOUPLING AND NORMALIZING COMPENSATORS FOR MIMO SYSTEMS

Wu Zhiming, Xu Xiaoming (Shanghai Jiaotong University)  
In [1] Hung and MacFarlane presented a design method for normalising compensators. Since the compensated systems were not decoupled, it is hard to analyse the dynamic behaviour of outputs yi(t) seperately. The method given here illustrates how to choose the diagonal elements qn(s)' s of open-loop transfer function matrix Q(s) for obtaining such a precompensator K(s) that satisfies the requirements of stability, dynamic behaviour of outputs, robustness and decoupling. The method is suitable for computer-aided design, since all the design work, except choosing qii(s)'s by man -machine interaction, are carried out by computers.
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