Convert Msor To Sor -
where r1 is the reference for output y1 .
u1 = -k1 * (y1 - r1)
To convert MSOR to SOR, select output y1 and design a SOR controller: convert msor to sor
To convert MSOR to SOR, select a single output y_i and rewrite the system as: where r1 is the reference for output y1
Design a SOR controller for the selected output y_i . convert msor to sor
Consider a simple example of a 2-input, 2-output system: