Question 26.7: Consider a MIMO process having a nominal model given by Go(s...
Consider a MIMO process having a nominal model given by
G_{o}(s)=\frac{1}{(s^{2}+2s+4)}\begin{bmatrix} -s+2 & 2s+1 \\ -3 & -s+2 \end{bmatrix} with det(G_{o}(s))=\frac{s^{2}+2s+7}{(s^{2}+2s+4)^{2}} (26.9.3)
For this plant carry out the following
(a) Design a dynamically decoupling controller to achieve a closed loop bandwidth
of approximately 3 [rad/s]
(b) Examine what happens if the controller output in the first channel saturates
at ±2.5.
(c) Explore the effectiveness of the three anti wind-up procedures outlined above.
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