A graphical method of internal model controller stability analysis for MIMO systems

A graphical method for a two-input two-output (TITO) system to compute all feasible stable region is proposed in this paper. It is the first time the stability region of the internal model controller parameters is given in the parameter space for multivariable system. The internal model controller can be designed by effective open-loop transfer function (EOTF). Next, the parameter space is divided into stable and unstable regions. Finally, the example is presented to demonstrate the validity of the proposed method.

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