Adaptive decoupling control of nonlinear multivariable systems with unknown parameters

It is known that the linear multivariable system is decouplable by the static state feedback if and only if its interactor is a diagonal matrix. When the system does not have a diagonal interactor, it is always possible to design the precompensator such that the total system has a diagonal interactor. In this paper, we apply this technique to nonlinear multivariable systems with unknown parameters whose interacotors are not diagonal. First, a precompensator for a diagonal interactor is designed in the generic sense so that decoupled output error equations are obtained. Then, this extended system can be decoupled adaptively by using MRACS technique.