+
y1 r1
+
P (s)
K2 (s)
y2
r2
K1 (s)
Plant:
1 s 2
(s + 1)
P (s) = 2 . (take = 10 in the following numerical analysis)
s + 2 (s + 1) s 2
Controller:
1 0 1 1
K1 = , K2 =
0 1 1 + 2 1
+
y1 r1
+
P (s)
K2 (s)
y2
r2
K1 (s)
y1 1 r1
= P (s) (I + P (s)K1 (s)) K2 (s)
y2 r2
1 1 0 r1
= .
s+1 0 1 r 2
+
P (s)
K2 (s)
y2
r2
K1 (s)
1
Loop transfer function: e1 = u1 .
s
MIMO analysis
u2 = (1 + 2 ) e2
+ +
P (s) K2 (s)
y1 r1
y2 r2
K1 (s)
1 0
= ,
0 2
MIMO analysis
1 0
= , Take 0.05 (5% uncertainty in each actuator)
0 2
0.6
0.4
y2 (1 = 0.05, 2 = 0.05)
0.2
0 2 4 6 8 10
Time: seconds
Control Systems II 11: 5
MIMO robustness
MIMO analysis
0.11 0
The closedloop system becomes unstable with = ,
0 0.11
s + (2 + 1 + 2 ) s + 1 + 1 + 2 + ( + 1)1 2 = 0.
2 2
1
Choose instead: 1 = 0.1 and 2 = 1
2 +1
MIMO analysis
2
1.5
Stability regions:
1 UNSTABLE STABLE
0.5
2 0
0.5
STABLE
1 UNSTABLE
1.5 UNSTABLE
2
2 1 0 1
1
Magnitude
1
10
(G)
0
10
(L)
(G)
!1
10 !2 0 2
10 10 10
Frequency [rad/s]
625
1.5
y1
1
0.5
y2
0
0 10 20 626 30 40 50 60
Time [min]
Control Systems II 11: 12
MIMO systems
6.4 General control problem
formulation [3.8]
General control problem formulation (3.8 in S&P)
(weighted) (weighted)
exogenous inputs exogenous outputs
w " "z
" P
u v
control signals sensed outputs
K!
!
d
P !+ ! !z

w r #
"
n
! G !"!+ " ! "
!+! "
!+
+ + 
u v 628
K $
!
d
P !+ ! !z

w r #
"
n
! G !"!+ " ! "
!+! "
!+
+ + 
u v
K $
!
d
P !+ ! !z

w r #
"
n
! G !"!+ " ! "
!+! "
!+
+ + 
u v
K $
>> P = ss(A,B,C,D);
>> P = minreal(P);
w ! W w
" ! z" ! !z
w Wz
!
!
P
K "
z1 = Wu u
z2 = WT Gu
z3 = WP w + WP Gu
v = w Gu
T T
so the generalized plant P from [ w u ] to [ z v]
is 0 Wu I
0 WT G
P = (6.58)
WP I WP G
I G
Control Systems II 11: 22
MIMO systems
We often partition P as
! "
P11 P12
P = (6.59)
P21 P22
so that
# $ # $
0 Wu I
P11 = 0 , P12 = WT G (6.62)
WP I WP G
We often partition P as
! "
P11 P12
P = (6.59)
P21 P22
so that
# $ # $
0 Wu I
P11 = 0 , P12 = WT G (6.62)
WP I WP G
w ! N !z
z = Nw (6.64)
u = Kv (6.65)
N = P11 + P12 K(I P22 K)1 P21 = Fl (P, K) (6.66)
Control Systems II 11: 25
and eliminate u and v from equations (6.60), (6.61) MIMO systems
and (6.65)the
Calculating to closedloop:
yield z = N w where N is given by
N = P11 + P12 K(I P22 K)1 P21 = Fl (P, K) (6.66)
"
u y
!
w ! N !
z
!1 !2
Outputs
Inputs z !1
w !2
System with !3
Actuators, Sensors !4
and Controller
>
w
N z
!3 !4
(a) (b)
Control Systems II 11: 28
MIMO systems