Input-output decoupling for m-inputs m-outputs linear mechanical systems through interconnection

This paper deals with the input-output decoupling problem with asymptotic stability for a class of m-inputs m-outputs linear mechanical systems, through parallel connection with another mechanical system, called the controller. The paper gives a procedure for the design of a controller, which solves the above problem under some mild sufficient conditions, thus extending [1] where only 2-inputs 2-outputs linear mechanical systems were considered. © 2005 IEEE