COMPUTER EXERCISE

Consider a MIMO system with the transfer function matrix:

1

s 1
G ( s)
10s 1

0.25

( s 1)( s 2)

0.25

10s 1
( s 1)( s 2)

s2

.
1) Compute the RGA and check if it is OK to use the G0(s) (for the purpose of decentralized control):
1

s 1

G0 ( s)

s 2
2) If task 1) is OK, then implement in SIMULINK two (decentralized) control schemes: one closed loop scheme using the
process as G(s) and one closed loop scheme using the process as G 0(s). Both schemes have the following diagonal
controller:
9( s 1)

0
s ( s 4)

C ( s)
9( s 2)

2s ( s 4)

Explain why the real process given by the matrix G(s) gives different results from the approximate process G0(s) used for
controller design.
HINTS:
Use for explanation the concept of robust stability (chapter: Decentralized control of MIMO control Systems)
Use sigma comand in Matlab, in order to compute the maximum singular value from Singular Value Decomposition

Compute

T0 CG(1 CG)1

with the formulas from (chapter: Analysis of Multivariable Control)