Regelsysteme 1

10. Multiple-Input Multiple-Output (MIMO) Systems

Catalin Arghir

Institut fur Automatik

ETH Zurich

HS 2015

Catalin Arghir Regelsysteme 1 HS 2015

10. Multiple-Input Multiple-Output (MIMO) Systems
Gliederung

10.1. Definition

10.2. Relative Gain Array (RGA)

10.3. Decoupling Control

Catalin Arghir Regelsysteme 1 HS 2015

10. Multiple-Input Multiple-Output (MIMO) Systems
Gliederung

10.1. Definition

10.2. Relative Gain Array (RGA)

10.3. Decoupling Control

Catalin Arghir Regelsysteme 1 HS 2015

 Multiple-Input Multiple-Output (MIMO) Systems Definition

Systems with multiple Inputs/Outputs

We speak of multivariable systems when more than one manipulated
variable is used for regulating more than one control variable.

u1 y1

u2 y2

Instead of a simple transfer function, we have a Transfer Matrix :

" # " #" #
y1 (s) g11 (s) g12 (s) u1 (s)
y(s) = = = G(s)u(s)
y2 (s) g21 (s) g22 (s) u2 (s)

Catalin Arghir Regelsysteme 1 HS 2015 10-2

 Multiple-Input Multiple-Output (MIMO) Systems Definition

Systems with Multiple Inputs/Outputs

Multivariable Control (Centralized)

Fig. 1.2: Multivariable control loop [Lunz 06], controller makes use of all measured
variables, couplings are considered: k11 (s), k12 (s), k21 (s), k22 (s) 6= 0.
Diagonal Control (Decentralized):

Fig. 1.3: Decentralized control [Lunz06], single-variable controllers, couplings are

neglected: k12 (s), k21 (s) = 0
Catalin Arghir Regelsysteme 1 HS 2015 10-3
10. Multiple-Input Multiple-Output (MIMO) Systems
Gliederung

10.1. Definition

10.2. Relative Gain Array (RGA)

10.3. Decoupling Control

Catalin Arghir Regelsysteme 1 HS 2015

 Multiple-Input Multiple-Output (MIMO) Systems Relative Gain Array (RGA)

Relative Gain Array as a measure of interaction

without Control - uc +
gc1 g11 x1
x2 +
gc1 =0 = g22
uh
g21
with Control
gc1 g12
gc1 6= 0 uc = g12 uh
1 + g11 gc1
x2 = g22 uh + g21 uc uh + x2
g22
+
 
g12 g21 gc1
= g22 uh
1 + g11 gc1
g11 g22 g12 g21
uh
g11
for large gc1
= The transfer function uxh2 is affected by controller gc1 when g12 6= 0
and g21 6= 0, i.e. coupling in both Directions.

Catalin Arghir Regelsysteme 1 HS 2015 10-4

 Multiple-Input Multiple-Output (MIMO) Systems Relative Gain Array (RGA)

Relative Gain Array


x2 
4 uh 
gc1=0 g11 g22
m11 = x2

 = g11 g22 g12 g21
uh 
gc16=0
x1

4

uc g
= m22 = x1


c2=0

uc g
c26=0

Analogously, one can derive the coupling degree when x1 is controlled by

uh and x2 is controlled by uc as follows:
g12 g21
m12 = m21 =
g11 g22 g12 g21
The table of Coupling Degree of E.H. Bristol (1966) is referred to as
Relative Gain Array (RGA):
" #
m11 m12
M=
m21 m22

Catalin Arghir Regelsysteme 1 HS 2015 10-5

 Multiple-Input Multiple-Output (MIMO) Systems Relative Gain Array (RGA)

Relative Gain Array: Characteristics

rule of thumb: One pairs input j with output i when mij 1

Properties of the RGA:

P P
1 mij = i mij = 1
j
2 The RGA is scale independent, i.e. if
G0 = DO GDI ,
where DI und DO are diagonal matrices, scaling the system inputs
and outputs respectively, then
M (G) = M (G0 )
3 The RGA can be calculated from the transfer matrix G as follows:
M (G) = (G1 )T G
where denotes the element-wise matrix product
Catalin Arghir Regelsysteme 1 HS 2015 10-6
10. Multiple-Input Multiple-Output (MIMO) Systems
Gliederung

10.1. Definition

10.2. Relative Gain Array (RGA)

10.3. Decoupling Control

Catalin Arghir Regelsysteme 1 HS 2015

 Multiple-Input Multiple-Output (MIMO) Systems Decoupling Control

Decoupling Control

Given a transfer function y(s) = G(s)u(s), define input

u(s) := H(s)u(s) such that G(s)H(s) possesses a certain structure.
Example: if y1 is to be regulated via u1 , while y2 via u2 , then:
" #" #
? 0 u1 (s)
y(s) = G(s)u(s) = G(s)H(s)u(s) = .
0 ? u2 (s)
A possible choice of H(s) is:

gg11
" #
12
1
H(s) = .
gg22
21
1

Remark: compensator should be physically realizable

Catalin Arghir Regelsysteme 1 HS 2015 10-7