Abstract

A general recycle compensator, applicable to multivariable (MIMO) plants is derived. Diagonal proportional plus integral controllers ensuring performance robustness are obtained by minimizing a performance index and considering the robustness measure as a constraint in the design. The overall dynamic characteristics of the system resulting from the compensated plant are more favourable than those of the system resulting from the uncompensated plant.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>

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