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) [ 2.25 = (10.62) ( jω ) + 4.5 ( jω ) + 2.25 ] [( jω ) /10 +1 ]

(10.62) For practical implementation the above specifications are limited by the achieved sampling time of 10 ms. Step A Input/Output pairing and loop ordering The first step is the Relative Gain Analysis (RGA). In this example the analysis