Contents Overview xvii

20.9 Summary 622

20.10Further Reading 625
20.11Problems for the Reader 627

21 EXPLOITING SISO TECHNIQUES IN MIMO CONTROL 631

21.1 Preview 631
21.2 Completely Decentralized Control 631
21.3 Pairing of Inputs and Outputs 635
21.4 Robustness Issues in Decentralized Control 638
21.5 Feedforward Action in Decentralized Control 641
21.6 Converting MIMO Problems to SISO Problems 643
21.7 Industrial Case Study (Strip Flatness Control) 644
21.8 Summary 648
21.9 Further Reading 649
21.10Problems for the Reader 650

VII MIMO CONTROL DESIGN 653

PREVIEW 655

22 DESIGN VIA OPTIMAL CONTROL TECHNIQUES 657

22.1 Preview 657
22.2 State Estimate Feedback 657
22.3 Dynamic Programming and Optimal Control 660
22.4 The Linear Quadratic Regulator (LQR) 663
22.5 Properties of the Linear Quadratic Optimal Regulator 665
22.6 Model Matching Based on Linear Quadratic Optimal Regulators 669
22.7 Discrete Time Optimal Regulators 672
22.8 Connections to Pole Assignment 674
22.9 Observer Design 676
22.10Linear Optimal Filters 677
22.11State Estimate Feedback 690
22.12Transfer Function Interpretation 691
22.13Achieving Integral Action in LQR Synthesis 693
22.14Industrial Applications 695
22.15Summary 709
22.16Further Reading 712