Full and partial input-output decoupling: a transformation approach

摘要

This paper deals with the input-output decoupling of square and overactuated, linear systems by static state feedback. A transformation is proposed which visualizes the coupling effects of the system. This enables a simple access to full and partial decoupling and highlights the connection between the controller parameters and the generated transfer functions. In case of overactuated systems, i.e. systems having more inputs than outputs, the transformation leads to an appropriate illustration of the degrees of freedom such that the additional actuators can be used to shape the dynamics in a specific way.