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## Partial decoupling and non-minimum phase systems

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Triangular decoupling has been considered in several contributions as an alternative approach to relax the dynamic restrictions imposed by diagonal decoupling in non minimum phase (NMP) multivariable systems. This strategy allows decoupling a given variable without transferring to its response NMP characteristics. Additionally, since it is based on a centralised architecture, the achievable closed-loop performance is clearly superior to that of decentralised control, particularly for NMP plants. However, when right-half plane (RHP) zeros are aligned with the variable of interest (the decoupled variable), the aforementioned advantages of partial decoupling come at the cost of large interactions in the remaining system variables. In this chapter, we first study the reasons of this peculiar feature of partially decoupled NMP systems and then employ sliding mode reference conditioning (SMRC) ideas to delimit the remaining interactions without producing inverse responses in the main variable.

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