A General Multivariable Structure for Coordinated Control Applications

A multivariable system structure that is particularly well-suited for coordinated control applications is described here. The term "coordinated control" refers here to multivariable applications for which the objectives include the achievement and maintenance of specified functional relationships between the controlled variables as well as specified variation with time of each of the controlled variables. The proposed multivariable structure is applied to an example of coordinated multi-axial motion control. The resulting structure enables convenient application of available multivariable controller design techniques and indicates that coupled axis controllers Will result in better performance, in general. The proposed system structure also indicates very clearly which system features are critical for effective coordinated control.