Multi-input/multi-output sensitivity-points tuning

An extension of sensitivity point tuning concepts to the self-tuning of multi-input/multi-output (MIMO) systems is presented, and implementation issues are discussed. The means of generating the sensitivities needed for tuning are developed in a matrix transfer function form. A block diagram interpretation is presented to illustrate the conceptual clarity of using MIMO sensitivity points. A self-tuning example is included to demonstrate the tuning characteristics of the technique