( T r = I +Λ G ) ( I +Λ G ) ( B +G )
In Eq. (10.7), the matrix C1 is the only part that depends on the nondiagonal parts of both the plant inverse B and the compensator bG . Hence, this matrix comprises the coupling, and from now on C1 represents the coupling
bb y/rTGGC B (10.8)
where kiδ is the Kronecker delta that is defined as,
δ δ (10.10)
and which is an extension of the cross-coupling cij elements introduced in Chapter 5.