Paper Title
Decentralized Control of a Multivariable System

Abstract
A complex multi-axis machinery can be represented as a combination of local subsystems with interconnections between channels and couplings through the machine structure or process materials. Interactions between subsystems can complicate a control problem, especially when the parameters of the plant are of time-varying or uncertain. The adaptive control system described in this paper allows one to achieve an independent motion of plant outputs due to the elimination of interconnections between channels by local feedbacks, and simultaneously compensates the uncertainties of the plant parameters. The desirable motion of the subsystems outputs can be accomplished by using relevant reference models in each local subsystem. Index terms - Multivariable system, time-varying systems, feedback control, system stability.