Decoupling in the design and synthesis of singular systems (Q1072978)

This paper presents necessary and sufficient conditions for decoupling of linear, time-invariant, singular systems. The control law applied is of constant-ratio proportional and derivative state feedback type. It is shown that such a control law presents an invertible transformation which transforms the singular closed loop system to a regular one. In the frequency domain this gives a duality property between regular and generalized transfer functions. Given a system that satisfies the necessary and sufficient conditions, the class of all feedback matrices which decouple the system is characterized. Finally, a synthesis technique is developed for the realization of desired closed loop pole- zero configurations.