Operator-based Robust Decoupling Control for MIMO Nonlinear Systems

In this paper, operator-based robust decoupling control system design for multi-input multi-output (MIMO) nonlinear system is considered. That is, by using the proposed operator based robust decoupling control design, coupling effects existing in the MIMO nonlinear plants can be decoupled based on a feedback design and robust right coprime factorization approach, and the robust stability can be guaranteed. After that, an output tracking system is designed for the stabilizing system and the desired output tracking performance can be realized. Finally, a simulation example about robust control for two-link rigid manipulator is given to support the theoretical analysis.