Question 26.6: Consider the following MIMO system Go(s) = [1-s/(s+1)² s+3/(...
Consider the following MIMO system
G_{o}(s)=\begin{bmatrix} \frac{1-s}{(s+1)^{2}} & \frac{s+3}{(s+1)(s+2)} \\ \frac{1-s}{(s+1)(s+2)} & \frac{s+4}{(s+2)^{2}} \end{bmatrix} =G_{oN}(s)[G_{oD}(s)]^{-1}I (26.7.1)
where
G_{oN}(s)=\begin{bmatrix} (1-s)(s+2)^{2} & (s+1)(s+2)(s+3) \\ (1-s)(s+2)(s+3) & (s+1)^{2}(s+4) \end{bmatrix} (26.7.2)
G_{oD}(s)=(s+1)^{2}(s+2)^{2} (26.7.3)
(i) Determine the location of RHP zeros and their directions.
(ii) Evaluate the integral constraints on sensitivity that apply without enforcing dynamic decoupling and obtain bounds on the sensitivity peak.
(iii) Evaluate the integral constraints on sensitivity that apply if dynamic decoupling is required and obtain bounds on the sensitivity peak.
(iv) Compare the bounds obtained in parts (ii) and (iii).
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