Abstract
The transfer matrices of a multivariable controller and plant are considered in polynomial matrix representation. The minimal distance of the Mikhailov hodograph to the origin is used as the stability margin. Increasing the minimal distance is performed in order to raise the stability margin. For adequate and application-guided stepwise increase, the gradient of the stability margin is derived analytically. The coefficients of the polynomial matrices representing the numerator and denominator matrix are concatenated with the help of three-dimensional arrays. The method presented is straightforward and well-suited for application-oriented controller design. Three examples are given for illustration.
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