Decoupling approximation design using the peak to peak gain

Linear system design for accurate decoupling approximation is examined using the peak to peak gain of the error system. The design problem consists in finding values of system parameters to ensure that this gain is small. For this purpose a computationally inexpensive upper bound on the peak to peak gain, namely the star norm, is minimized using a stochastic method. Examples of the methodology's application to tensegrity structures design, are presented. Connections between the accuracy of the approximation, the damping matrix, and the natural frequencies of the system are examined, as well as decoupling in the context of open and closed loop control. (C) 2012 Elsevier Ltd. All rights reserved.