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• Note "process
interactions"
between controlled
and manipulated
variables.
• Each manipulated
variable can affect
both controlled
variables.
Y1 ( s) Y1 ( s)
GP11( s), GP12 ( s)
U1 ( s ) U 2 ( s)
Y2 ( s) Y2 ( s)
GP 21( s), GP 22 ( s)
U1 ( s ) U 2 ( s)
Or in vector-matrix notation as
MIMO SYSTEMS
Y ( s ) GP ( s )U ( s )
Y1 ( s ) U1 ( s)
Y (s) , U ( s)
Y2 ( s ) U 2 (s)
Note:
MIMO SYSTEMS
Y2
1 Gc 2 G p 22
12.8e s 18.9e 3s
MIMO SYSTEMS
X D ( s) 16.7 s 1 21s 1 R( s)
X B ( s) 6.6e 7 s 19.4e 3s S ( s)
10.9s 1 14.4s 1
Special Case:
• Either G p12 0 or G p 21 0
MIMO SYSTEMS
• Process interactions
• Control loop interactions
• Block diagram analysis
• Stability