An inversion-based two-degree-freedom(2DOF) control based on robust open decoupling is proposed for MIMO
tracking system. This control method accounts for coupling problem of MIMO system by robust open decoupling, and
improves tracking performance by inversion-based 2DOF controller. Firstly, a robust open decoupling method is proposed.
Then the design method of inversion based feedforward controller and robust controller based on H∞ mixed sensitivity is
proposed in 2DOF control. Finally, a design example and its simulation result show the effectiveness of the proposed control
method.