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A new multivariable robust self-tuning decoupling implicit algorithm

A new multivariable robust self-tuning decoupling implicit algorithm is presented. Even if there exist stronger unmodelled dynamics and bounded unmeasurable disturbances in the systems, the closed-loop system is still stable. The new choice of normalization coefficients and width of deadzone are presented, and it does not affect the character of the system. To realize robust decoupling, the compensation terms of the estimated values of unmodelled dynamics and unmeasurable disturbances are introduced into the control law and predictor equations, and the approximate decoupling control results can be obtained. Finally, the robustness analysis and simulation results of the presented algorithm are also given.