Mimo Decoupling Control Using a Youla- Parametrized Regulator

Abstract

It is interesting to investigate how a decoupling controller can be designed. The YOULA-parametrization is a simple method to design controllers. The KB-parametrization is a successful extension of this method for twodegree- of-freedom (TDOF) systems. The paper extends this methodology for multivariable case after summarizing the classical TFM based methods. Interesting examples are also given including a decoupling lateral control application.