@article {55,
	title = {Sliding mode compensation to preserve dynamic decoupling of stable systems},
	journal = {Chemical Engineering Science},
	volume = {62},
	year = {2007},
	pages = {4705 - 4716},
	abstract = {<p>Dynamic decoupling of linear multiple-input and multiple-output systems involves both static and transient decoupling between inputs and outputs of the system. Different control techniques exist in order to achieve this specification when ideal actuators are considered. However, input saturation changes the direction of the plant input with respect to the controller output and, as a consequence, decoupling is lost. This paper presents a method that allows, by means of a sliding mode (SM) auxiliary loop, maintaining dynamic decoupling even in the presence of actuator saturation. Since the SM compensation is confined to the low-power side of the control system, the discontinuous signal can be implemented with fast switching devices or, in the case of digital controllers, within a microprocessor algorithm. Furthermore, due to the robustness properties of SM, the compensation loop dynamics may be assigned independently of the main control loop.</p>
},
	keywords = {Process control},
	issn = {0009-2509},
	doi = {http://dx.doi.org/10.1016/j.ces.2007.05.020},
	url = {http://www.sciencedirect.com/science/article/pii/S0009250907004150},
	author = {Garelli, Fabricio and Mantz, Ricardo J. and De Battista, Hern{\'a}n}
}
@article {56,
	title = {Partial decoupling of non-minimum phase processes with bounds on the remaining coupling},
	journal = {Chemical Engineering Science},
	volume = {61},
	year = {2006},
	pages = {7706 - 7716},
	abstract = {<p>Partial (triangular) decoupling of MIMO systems has been considered in the literature as a way of relaxing the design limitations introduced by diagonal decoupling in non-minimum phase processes. The former strategy allows decoupling a variable of interest without affecting it with non-minimum phase dynamics. However, when right-half plane (RHP) zeros are mainly aligned with this variable, pushing the effect of the RHP zeros to other outputs comes at the cost of great interactions in those variables. This article presents a method to delimit these interactions without degrading significantly the decoupled variable response. To this end, the algorithm shapes the reference signal by means of an auxiliary sliding mode loop.</p>
},
	keywords = {Process control},
	issn = {0009-2509},
	doi = {http://dx.doi.org/10.1016/j.ces.2006.09.008},
	url = {http://www.sciencedirect.com/science/article/pii/S000925090600580X},
	author = {Garelli, Fabricio and Mantz, Ricardo J. and De Battista, Hern{\'a}n}
}
