Synthesis of Multivariable, Basically Noninteracting Systems With Significant Plant Uncertainty

A synthesis technique is presented, in the form of a computer algorithm, for linear, minimum-phase, multivariable plants with defined ranges of parameter uncertainty, to satisfy precisely specifications of the 'basically non-interacting' type. These are that the elements of the system transfer matrix T(s) = [ταβ (s)] satisfy k i l ω ≤ τ ii j ω ≤ k i 2 ω , τ ij j ω ≤ k ij ω i ≠ j , over the range of parameter uncertainty. The design is optimum in the sense of achieving this with loop transfer elements which decrease in magnitude at the fastest possible rate vs w . This is important for the reduction of sensor noise effects, whose typical large amplification tends to saturate plant elements.