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Chapter 26. Decoupling

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  26.1  Preview

  26.2  Stable Systems

  26.3  Pre and post Diagonalization

  26.4  Unstable Systems

  26.5  Zeros of Decoupled and Partially Decoupled Systems

  26.6  Frequency Domain Constraints for Dynamically Decoupled Systems

  26.7  The Cost of Decoupling

  26.8  Input Saturation

  26.9  MIMO Anti Wind-Up Mechanism

  26.10  Summary

  26.11  Further Reading

  26.12  Problems for the Reader