Controller design for partial decoupling of linear multivariable systems

In the design of feedback control systems for linear multivariable plants, insisting on the elimination of coupling in closed-loop is often achieved at the expense of an increase in the multiplicity of infinite and non-minimum phase zeros beyond those of the plant. This behaviour is known as the “cost of decoupling” since these additional zeros are manifested in the time domain by increased rise times and undershoots in step responses. Using partially decoupling controllers, however, it is always possible to obtain closed-loop