This paper deals with a structure of dynamic compensators for decoupling systems. Some designing methods for decoupling have been investigated by many authors, but all these procedures depend on only system parameters. It is shown that the structure of the dynamic compensator can be decided with the aid of a graph-representation of system structure.
First we show that the minimal order of the dynamic compensator for decoupling is determined by the system structure. Based on this fact, the new algorithm of designing is proposed, which depends on the structure of the system. The procedure is sensible and intutive, since it depends on the graph-representation of the structural information. Some examples are included in order to illustrate the proposed algorithm.