Convert Msor To Sor [OFFICIAL]

Consider a simple example of a 2-input, 2-output system:

The MSOR system can be represented as:

Design a SOR controller for the selected output y_i . convert msor to sor

where r1 is the reference for output y1 .

u1 = -k1 * (y1 - r1)

To convert MSOR to SOR, select a single output y_i and rewrite the system as:

dx/dt = f(x, u) y_i = h_i(x)

dx/dt = f(x, u) y = h(x)