Instead, here, equations are used that are independent of the t1v, by simply finding t2j from T = [I + PG]-1PGF. Thus,
(e) ][ =
) - (pfg = c
Lqg = qg = L
c + Lf = t
or the MISO structures of Fig. 7.2. This design is done after the design of Eq. (6.17a) has been completed by means of Eqs. (7.3a-d), so that L1, f11, and f12 are known (Use L1 not L1o -- see Appendix F). It is then necessary to find g2, f21, and
f22 so that in Fig. 5.2 the outputs y21 and y22 are stable and satisfy the tolerances on |y21| and |t22|, respectively. These are single-loop problems similar to Fig. 7.l, except that only the uncertainty P∈ P need be considered, as the c2j in Eqs. (7.4a-e) are not functions of the elements of τij, which they are in Eqs. (7.3a-d). At each step, design execution is that of a MISO single-loop system -- which is what makes this design procedure so tractable.