Using the [mu]-interaction measure in the stability analysis of decentralized control structures

This document details the results of using the μ-Interaction Measure as an analysis tool when systematically designing decentralized controllers for multivariable systems. The μ-Interaction Measure indicates the stability of the full-block closed-loop system by providing an upper bound on the magnitude of the system. Several examples found in literature were used to demonstrate this analysis technique. The diagonal controllers were designed using the Internal Model Control (IMC) method. A study was also done including mathematical model uncertainty. The results from the study indicate that although the μ-Interaction Measure may be somewhat conservative, it provides an effective means to guarantee stability of the closed-loop full-block system.