If a system has more than one input or output, it is called multi-input/multi-output (MIMO) or multivariable. The poles for multivariable systems are defined the same as for single-input/single/output (SISO) systems. On the other hand, for MIMO systems, there are several kinds of zeros and the discussion of zeros is complex. A complete treatment is given in terms of the Smith and McMillan forms...

This paper discusses the development of robust versions of multivariable Non-Minimal State Space (NMSS) design procedures, for Proportional-Integral-Plus (PIP) control systems. The formulation allows for the exploitation of any state variable feedback control procedure, including modern robust designs based on H2 and H∞ methods, as well as risk sensitive optimisation. The control designs are ev...

This paper presents a unit vector based output-feedback model-reference adaptive control (UV-MRAC) for uncertain multi-input-multi-output (MIMO) linear systems. Some features of this new algorithm are: (i) Less restrictive a priori knowledge about the high frequency gain matrix of the plant is required. (ii) It applies to plants of any uniform relative degree. (iii) The closed loop system is ex...

Time-domain limitations due to right half-plane zeros and poles in linear multivariable control systems are studied. Lower bounds on the interaction are derived. They show not only how the location of zeros and poles are critical in multivariable systems, but also how the zero and pole directions in4uence the performance. The results are illustrated on the quadruple-tank process, which is a new...