Independent design of decentralized controllers in the frequency domain

The paper presents an original frequency domain decentralized controller design technique for guaranteed performance. The novelty consists in that the designed decentralized controller guarantees the required performance for the full system. Interactions are considered in local designs by means of a chosen characteristic locus of the interaction matrix used to modify mathematical models of isolated subsystems thus defining the equivalent subsystems \cite ves. The developed graphical design method is insightful and promising from the viewpoint of further application in the robust control design \cite aves. Theoretical conclusions are supported with results obtained from the solution of several examples