ABSTRACT
A MIMO control system that involves both tracking and external disturbance inputs (see Fig. 8.1) can now be designed by either Method 1 of Chap. 6 or Method 2 of Chap. 7. In Figs 5. 10 and 5. 1 1 the Cy terms are replaced by the d,.. terms; that is Fig. 8.2 is modified by including the tracking inputs r, * 0. This modified figure now represents the tracking/regulator MIMO control system. The optimal bounds are now a combination of not only the most stringent portion of each of the tracking and cross-coupling effect bounds but also that of the bounds due to the external disturbance (d^y of Eq. (8.19).
