ABSTRACT
All interpretations and examples in this paper assumes that appropriate scaling has been performed. In general, the variables should be scaled to be within the interval - 1 to I , that is, their expected magnitudes should be normalized to be less than 1 . This is done by dividing the unsealed signals by
(4)
(5)
4.2.2.2. Time delays
perfonnance, since it will often be possible to achieve faster responses in some of the outputs if dynamic interactions are allowed. Dynamic decoupling is seldom a reasonable requirement. Unless there is large differences in the importance of the outputs, it is reasonable to reduce the offset from setpoint in one output at the cost of introducing modest offsets in other outputs . If there are large differences in the importance of the outputs, one-way decoupling may be justified, whereas equation 21 gives the minimum closed loop time delays for two-way decoupling.
