chapter  10
1 Pages

CHAPTER 10

10.4. The RGA matrix of the plant is,

Thus, the input 1 controls the output 1, and the input 2 controls the output 2. The p11 is chosen to be the first loop to be closed because it has the lowest bandwidth compared to p22. According to the defined stability and performance specifications, and taking into account the parameter uncertainty, a solution for the compensator is:

++

++ =

166.47/

197.1

18556.0/

43.0 147/

48.0

18556.0/

6496.0

(s)

ss

ssG

10.5. According to the defined stability and performance specifications, and taking into account the parameter uncertainty, a solution for the non-diagonal MIMO compensator is:

0006.03 )(11

+++

+ =

sss

s sg

0007.0 )(21

++++

+− =

ssss

s sg

00042.04 )(22

+++

+ =

sss

s sg

0004.0 )(12

+++

+− =

sss

s sg