Discrete-Time Steady-State Control of Interconnected Systems Based on Pseudoinversion Concept

The problem of controlling interconnected systems subjected to arbitrary unmeasurable disturbances remains actual up to now. It is important problem from both theoretical and practical points of view. During the last decades, the internal model control principle becomes popular among other methods dealing with an improvement of the control system. A perspective modification of the internal model control principle is the so-called model inverse approach. Unfortunately, the inverse model approach is quite unacceptable if the systems to be controlled are square but singular or if they are nonsquare. It turned out that the so-called pseudoinverse (generalized inverse) model approach can be exploited to cope with the noninevitability of singular square and also nonsquare system.