Abstract
Presented in this paper is a multivariable feedback controller design methodology for regulating systems required to satisfy hard time domain tolerances despite a vector of external step disturbances. In addition to satisfying time domain tolerances, this design methodology seeks to minimize the bandwidth of each feedback controller so that the cost of feedback is minimized. The two key contributions of this work are (i) the rigorous justification of enforcing time domain tolerances via frequeucy domain amplitude inequalities, and (ii) the design of a fully populated, multivariable controller via sequential loop closure. This multivariable controller design methodology will be demonstrated on the control of an distillation column.
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