Sensitivity aspects of pre-compensator design for a shipsteering/stabilisation system

The main problem encountered in the implementation of controller designs based on simulation studies is the effect that plant uncertainty can have on the compensated system's performance. This problem is exacerbated in the multivariable case, in which interaction levels can also exhibit uncertain characteristics. This paper examines the simple relationship which exists between the multivariable plant and its pre-compensator and shows how it is possible to predict the sensitivity of the compensator to system uncertainty.