A comparison of different dynamic decoupling methods for a nonlinear MIMO Plant

In the paper two different control systems for nonlinear multi-input multi-output MIMO plants are compared and discussed. Their main objective is to reduce the influence of the plant inputs and outputs. A multi-controller control structure, which contains a set of a dynamic decoupling controllers is compared with a synthetized online nonlinear model predictive controller. Pros and cons of both methods are discussed and presented in series of simulations of control of a selected nonlinear MIMO plant. Te paper ends with some final remarks on a practical implementation of decoupling methods for a nonlinear MIMO plants.