digital-brain/content/article/garg07_implem_chall_multiv_contr.md

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title = "Implementation challenges for multivariable control: what you did not learn in school!"
author = ["Thomas Dehaeze"]
draft = false
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Tags
: [Multivariable Control]({{< relref "multivariable_control" >}})
Reference
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: ([Garg 2007](#org18482cb))
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Author(s)
: Garg, S.
Year
: 2007
Discusses:
- When to use multivariable control and when not to?
- Two major issues with implementing multivariable control: **gain scheduling** and **integrator wind up protection**
> Inline simple gain and phase margin measured for SISO, "robustness" determination of multivariable control requires complex analyses using **singular value techniques** and **Monte Carlo** simulations.
**When to use multivariable control**:
- System has high input/output coupling and not much separation between loop bandwidth
- System is complex with large number of states
- When sequential SISO loop closure will not meet performance requirements
Importance of having a mechanism to limit the control rate in the synthesis process.
The control rate should be weighted appropriately in order to not saturate the system and stay in the linearity regime.
- importance of scaling the plant prior to synthesis and also replacing pure integrators with slow poles
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## Bibliography {#bibliography}
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<a id="org18482cb"></a>Garg, Sanjay. 2007. “Implementation Challenges for Multivariable Control: What You Did Not Learn in School!” In _AIAA Guidance, Navigation and Control Conference and Exhibit_, nil. <https://doi.org/10.2514/6.2007-6334>.