Precompensator of nonlinear multivariable systems for a diagonal interactor

An interactor is another expression of the structure at infinity of linear multivariable systems, which can be extended to nonlinear multivariable systems. Hence, as for linear systems, the interactor plays an important role also in the nonlinear control problems, e.g., decoupling control, model matching control, disturbance decoupling control, etc. But, in general, the interactor is a lower triangular polynomial matrix, which makes the control design problem complicated. This paper considers the precompensator for the affine nonlinear multivariable system such that the total system has a diagonal interactor. Our main purpose is to present the design algorithm of such a compensator and prove the convergence property of the algorithm for nonlinear systems.