Abstract
The design of a class of multivariable feedback system which is characterised by a set of coupled non linear elements of a general multivalued form is considered. Harmonic linearisation is first used to investigate limit cycling conditions in the autonomous system and to generate frequency domain arrays which indicate the structure of a suitable compensator to avoid critical regions In the freauency domain. A numerical procedure based on a method of inequalities is then employed to meet additional performance functionals in the time domain subject to specified system constraints.
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