Part VIII: Advanced MIMO Control
This final part of the book covers some advanced ideas in MIMO control. We begin in Chapter 25 with the MIMO extension of the controller parameterizations described in Chapter 15 for the SISO case. Finally in Chapter 26, we bring together many ideas in the book. Our aim here is to describe some advanced design ideas. However, we also want to illustrate to the reader that having reached this point he or she can understand quite sophisticated design issues. In particular, we show how full dynamic and partially decoupling can be achieved via one and two degree of freedom controllers. We also show how dynamic decoupling can be retained in the presence of actuator amplitude and slew rate limitations.