Multivariable Compensator Design Using Bode Diagrams and Nichols Charts

Abstract In this paper the basic concepts associated with the Multivariable Nyquist Array (MNA) methods are extended to the log-magnitude/frequency and phase-angle/frequency planes. The resulting multivariable Bode diagrams (MBD) are subsequently presented in the log-magnitude/phase angle plane as characterized by the familiar Nichols Chart. A closed loop compensator design procedure is then presented using an interactive graphics facility. An example is provided to demonstrate the utility of the proposed method in the design of dynamic feedback compensators.