Continuous-time and discrete multivariable decoupling controllers

Abstract

The paper is focused on a design and implementation of a decoupling multivariable controller. The controller was designed in both discrete and continuous-time versions. The control algorithm is based on polynomial theory and pole - placement. A decoupling compensator is used to suppress interactions between control loops. The controller integrates an on - line identification of an ARX model of a controlled system and a control synthesis on the basis of the identified parameters. The model parameters are recursively estimated using the recursive least squares method.