A precompensator of minimal order for decoupling a linear multi-variable system†

Abstract

Abstract A theorem is proved which gives the minimal order of a precompensator which together with state feedback decouples a given linear time-invariant multi-variable system provided the system is invertible. In addition a design procedure is described by which the parameters of the precompensator are determined by solving a set of linear equations. Notes †Communicated by the Author.