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Process Control: Modeling, Design, and Simulation by B. Wayne Bequette

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14.5. Block-Diagram Analysis

Consider the multivariable block diagram shown in Figure 14-8. Each of the variables shown on this diagram is a vector and the blocks represent matrix transfer functions. That is, for two process outputs, two manipulated inputs, and one disturbance, the corresponding vectors are given below.

Figure 14-8. Multivariable block diagram.

Setpoints, outputs, manipulated inputs, and the disturbance input are

The controller, process, and disturbance matrices are

Notice that if SISO controllers are used, the controller transfer ...

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