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.
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 ...