Speaker
Description
This talk explores recent advances in system decoupling techniques for control of strongly directional multi-input systems, focusing on the transformation from coupled MIMO dynamics into single-output, multi-input structures. We begin by motivating the need for decoupling through the lens of gain separation, highlighting the challenges posed by actuator constraints and model uncertainty in low-gain directions. We then introduce a hierarchy of decomposition tools—ranging from standard SVD (single-array) to GSVD (two-array, currently used at Diamond-II), and ongoing work extending to multi-array decompositions. Once decoupled, the system becomes amenable to a wide range of SISO-based design tools including feedforward compensation and loop shaping. We emphasize the critical role of orthonormal transformations in achieving reliable decoupling, and briefly discuss strategies when exact orthogonality is not feasible.