Decoupling with improved output channel gain margin using unity output feedback PC—GSHF based dynamic compensation

This paper employs a unity output feedback dynamic controller based on piece-wise constant generalized sampled-data and hold function (PC-GSHF) to achieve decoupling in the sampled-data response along with superior output channel gain margin of continuous-time, LTI MIMO plants. The compensation scheme consists of (i) a PC-GSHF controller which, by virtue of its arbitrary loop-zero placement capability, yields a composite (along with the plant) discrete-time LTI system with no finite unstable zero (ii) a discrete-time LTI controller which first decouples the composite system into SISO units and then compensates these decoupled SISO units. Suitable examples are considered to illustrate the controller design approach and to show the capability of this controller. Simulation results suggest that this scheme may be used as means of quasi-decoupling.