Simplified Decoupling

Function which finds the symbolic decoupling matrix and decoupled plant for a square plant transfer function of arbitrary order.

Simplified decoupling is a technique whose goal is to decouple the order p square plant transfer function aiming to reduce the problem of finding a MIMO controller to the problem of finding p SISO controllers.

It assumes a particular simplified structure for the decoupling matrix: it will have p entries equal to 1.