The IMC design procedure for MIMO systems is similar to the design procedure developed in Chapter 8 for SISO systems. The IMC block diagram is shown in the Figure 14-13, where the blocks now represent matrix transfer functions and the inputs and outputs are vectors. We first use an example to illustrate the multivariable IMC design procedure, then follow with the general procedure.
Figure 14-13. IMC.
Example 14.1, continued
Here we consider system A from Example 14.1. Recall that system A had a RHP transmission zero (z = 3 min-1)