A unified approach for the common I/O decoupling via measurement output feedback of multi model descriptor and normal systems

The problem of common input/output (I/O) decoupling for multi model descriptor linear systems is studied via a static measurement output feedback controller. The necessary and sufficient conditions for the solution of the problem are established and the general expression of all measurement output feedback controllers solving the problem is derived. The results are successfully applied to achieve position control of a robotic manipulator carrying different loads.