【多变量控制系统 Multivariable Control System】（4）去耦合（Decoupling）【新加坡南洋理工大学】
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一、去耦合介绍
- The use of decouplers have long been a popular way of converting multivariable control problems into (what appears to be) a number of monovariable control problems.
- The popularity of decoupling seems to continue, despite the more general and easily applicable multivariable control design methods that have been developed over the last several decades.
- The basic idea behind the use of a decoupler can be illustrated in below figure:
W(s): precompensator
G(s)W(s)=Gdes(s) , with Gdes(s) diagonal.
W(s) = Gdes(s) * G(s) ^ (-1)
二、去耦合举例
例1： G(s) 无时延，无右平面零点：
例2： G(s) 存在时延（最大时延为3s）：
三、相关延申问题
问题解答
（1）小问：
（2）小问：
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