Decoupling control design via linear matrix inequalities

A new method for the design of multivariable internal model control (IMC) is proposed, aimed at obtaining good loop performance and small loop couplings based on linear matrix inequalities (LMIs). The decoupling design with performance constraints is formulated into an optimisation problem with LMI constraints, and thus the problem can be solved effectively. Robust stability is analysed and simulations show that good control performance can be achieved.