Input-output decoupling with asymptotic stability of linear mechanical systems through connection with another mechanical system

This paper deals with the input-output decoupling problem with asymptotic stability for a class of linear mechanical systems (with two inputs and two outputs), 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. ©2005 AACC