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EN
In the paper problems with dynamic decoupling of the left-invertible multi-input multi-output dynamic (MIMO) linear time invariant plants using a squaring down technique are considered. The procedure of squaring down the plant model and grouping of plant inputs and outputs are discussed. The final part of the paper includes a few examples of different strategies of synthesis of a decoupled system along with conclusions and final remarks.
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Content available remote Windup prevention for MIMO systems in the frequency domain
EN
Input saturation can have an undesired influence on the transients of the closed loop system and it can even lead to an unstable behavior. Controller windup is caused by badly damped or unstable modes in the compensator and controller windup is due to fast dynamics of the closed loop system. In a two-step approach one can first prevent controller windup by the so-called observer technique and if, in addition, there exists the danger of plant windup one adds an additional dynamic element to prevent it. There also exists a one-step approach that prevents controller and plant windup at the same time. This paper shows how both approaches to windup prevention can be designed directly in the frequency domain without recourse to time domain arguments. A simple example demonstrates the windup effects and their prevention.
3
Content available remote Polynomial Approach to Pole Shifting to Infinity in Singular Systems by Feedback
EN
Necessary and sufficient conditions are established for the existence of a state-feedback gain matrix K such that the closed-loop characteristic polynomial is of the zero degree [formula]. Necessary and sufficient conditions are also established for the existence of a solution [formula] to the polynomial matrix equation [formula] for an unimodular matrix [formula]. Procedures for computation of K are proposed and illustrated by numerical examples. It is shown that the complete controllability of the system is sufficient but not necessary and the strong controllability of the system is not necessary condition for the existence of solution to the first problem.
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