Catalin Arghir
HS 2015
10.1. Definition
10.1. Definition
u1 y1
u2 y2
Fig. 1.2: Multivariable control loop [Lunz 06], controller makes use of all measured
variables, couplings are considered: k11 (s), k12 (s), k21 (s), k22 (s) 6= 0.
Diagonal Control (Decentralized):
10.1. Definition
uc g
c26=0
10.1. Definition
Decoupling Control
gg11
" #
12
1
H(s) = .
gg22
21
1