coupling the view through the control theory:

The existence of interactions between the inputs and outputs of a MIMO system is a form of coupling when the system is represented by a transfer
matrix G (s), also to a representation in the form of state interaction appears in the A matrix and well understood the link with the matrices B, C and D.

In practice, the coupling results in difficulty to able to control a given system, that is why we are in the need to decouple the system.

Decoupling can be relase by Feedforward Action,  Converting MIMO Problems to SISO Problems and Decoupling when the system is represented by a
transfer matrix G (s). Also we can use ELMER G. GILBERT Algorithm for a class system represented by the state equations .

In all cases we can check on the transfer matrix having undergone the decoupling action the lack of interactions inputs outputs.

Please find attached the documents relative to decoupling.

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 Coupling between states is a situation when the time variation dxi/dt of the i-th state is in some way dependent on states other than the i-
th.

 For nonlinear systems as always "the sky is the limit" ! But in linear systems, coupled states are easy to identify from the off-diagonal
elements of the A-matrix being non-zero. Following from the earlier statement for example, if  dxi/dt depends on xjamounting to coupling
between xi and xj, then the elements Aij and Aji will be non-zero.

 Decoupling helps in design, since it allows the designer to set the controller for each state independent of the other states.

 For a linear system with distinct eigenvalues, the Lure' canonical form is the perfectly decoupled structure.

 For a linear system with repeated eigenvalues, the Jordan canonical form is the most decoupled structure. Decoupling between the
states with the same eigenvalue (within the Jordan block, that is) is not possible.

 Decoupling

Coupling is the interaction between the controlled variables and manipulating variables. The decoupling controller is used to eliminate  the interaction.

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n multi-variable control terminology:

If the transfer-function (Y-U model) matrix is non-diagonal, then coupling effect is present. This results in retaliating effect in closed loop, i.e., a change
in one output affects another output and it again affects back the previous.  This makes the decentralized control difficult.

Some techniques for decoupling (proper pairing of input-output variables) are:

1. Relative Gain Array (RGA) + Niederlinski index

2. Singular Value Decomposition

3. Dynamic RGA , etc.

After proper pairing, decoupler could be incorporated in the loop to cancel any effect from other interacting loops.
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The different types of decoupling techniques (Deshpande and Ash 1988) employed here
are,

(i) Static decoupling, in which only steady state gains are considered in
designing the decouplers and are always physically realizable and easily
implemented with the less process information available. A disadvantage
is that control loop interactions still exist during transient conditions.

(ii) Dynamic decoupling, in which the complete process information is taken

into account in the decoupler design. But this may not be feasible always
because of the presence of non-linearities.
 (iii) Partial decoupling, in which decouplers are designed for the loops where
significant interaction exists. It is preferable in control problems where
one of the control variables is more important than the other or where one
of the process interactions is weak or absent. But it may be less sensitive
to modeling errors than complete decoupling.

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Three different methods of decoupling (simplified, ideal and inverted) were described
and relative limitations were discussed (Gagnon et al 1998). A decisive drawback of
decoupling control is that it is sensitive to model error. One major example is the
distillation column, used to separate a liquid into its various constituents, depending on
the differences in their boiling points. Tuning a controller for this system poses many
problems (Luyben 1985). The same method of controller tuning can be used for all
applications in electrical and aeronautical industry, which contrasts sharply with the
distillation column. This is because of the variation in the design and operation, which
might render a strategy perfectly adequate for one system while the same might not
work with another system. By the method of decoupling, we decouple the process and
then design a suitable controller for decoupled process. Parametric sensitivity and
related robustness issues on the stability of closed loop system were also
studied*********************************

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The different types of decoupling techniques (Deshpande and Ash 1988) employed here
are,

(i) Static decoupling, in which only steady state gains are considered in
designing the decouplers and are always physically realizable and easily
implemented with the less process information available. A disadvantage
is that control loop interactions still exist during transient conditions.

(ii) Dynamic decoupling, in which the complete process information is taken

into account in the decoupler design. But this may not be feasible always
because of the presence of non-linearities.
(iii) Partial decoupling, in which decouplers are designed for the loops where
significant interaction exists. It is preferable in control problems where
one of the control variables is more important than the other or where one
of the process interactions is weak or absent. But it may be less sensitive
to modeling errors than complete decoupling.

Thus the idea of decoupling is appealing, but there are many difficulties.

i) Sometimes, decoupling may be very sensitive to modeling errors and

uncertainity.

ii) The requirement of decoupling and use of IMC type of controller may not
be desirable for disturbance rejection due to noise in the disturbance.

iii) If the plant has RHP zero then has the requirement of decoupling
generally introduced extra RHP zeros into the closed-loop system.