Lecture 13 – Introduction to MIMO Control

A MIMO control system

"Looks like the issue was stiction in the biprop throttle valve, resulting in control system phase lag," Musk elaborated. "Should be easy to fix.” (phys.org)

MIMO Positioning Systems3 inputs, 3 outputs

(Bristow, et al., Rev. Sci. Inst., 2008)

MIMO Stewart Platform

6 prismatic actuators (inputs)6 positioning degrees of freedom (outputs)

Singular Value Example: Static Transfer Function Matrix

Note: we are using different variable names from this book. d → u, d20 → u2, d10 → u1

(Skogestad, Postlethwaite, Multivariable Feedback Control, 2005)

Singular Value Example: Dynamic Transfer Function Matrix

(Skogestad, Postlethwaite, Multivariable Feedback Control, 2005)

Sensitivity Function S