Abstract
Abstract In its present form, the Horowitz design method for uncertain multi-input-multi-output (MIMO) feedback systems can meet the demands of robustness and performance. The method is now extended to meet the requirements of gain and phase margin specifications on the loop transfer function at a number of channel breaking points for all assumed plane uncertainty. This eliminates any underdamped closed loop behavior in response to the diagonal elements. In the most general terms, time response due to disturbances, sensor noise and tracking commands will be improved. The advantages of this extended method are demonstrated by means of an example.
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