Structural Solutions to Disturbance Decoupling

Abstract

This chapter develops a novel algorithm which solves the disturbance decoupling problem by repeatedly decoupling one output variable at a time. The central routine decouples a single output variable by assigning the necessary value to one control input variable, such that all influences on the chosen output variable are cancelled out. The important aspect is that the output variable is decoupled not only from the disturbance, but also from all other control input variables. Therefore, this routine can be applied repeatedly until the system is completely decoupled (or there are no control inputs left).