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Non–minimal state variable feedback decoupling control for multivariable continuous–time systems

Most research into non-minimal state variable feedback control has considered discrete-time systems represented using the either the backward shift or delta operator. However, mechanistic models with physically meaningful parameters are often expressed in terms of differential equations, hence this article develops for the first time all the necessary theoretical results (e.g. controllability) for multivariable design of such models and opens the way to future practical applications in various disciplines e.g. the robotic manipulator system in section 7.1 was utilised in 2011 for contaminated material discrimination trials jointly by Sellafield Ltd. and the National Nuclear Laboratory at their Workington site (jim.p.harken@nnl.co.uk).