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: