Determination of open loop responses from closed loop measurements

Claim 1

Apparatus for determining open-loop parameters for a First Configuration, multiple-input, multiple output, closed-loop control system, the apparatus comprising: a feedback loop having a difference module, a controller module, a plant module and a sensor module arranged in that order in a feedback loop that operates in its linear operating region, the sensor module having sensor dynamics represented by a matrix H of dimensions n 1 ×n 2 , the controller module having controller dynamics represented by a matrix C of dimensions n 3 ×n 1 , and the plant module having physical system dynamics represented by a matrix P of dimensions n 2 ×n 3 , where n 1 , n 2 and n 3 are selected positive integers; the difference module having a first input terminal that receives an array R of n 1 predetermined input signals, having a second input terminal that receives an array Z of n 1 input signals, and having an output terminal, where the difference module forms and issues at its output terminal a difference signal array E=R-Z; the controller module receiving the vector array E of signals at an input terminal thereof and, in response thereto, forming and issuing an array U=CE of n 3 intermediate output signals at an output terminal thereof; the plant module receiving the vector array U of signals at an input terminal thereof and, in response thereto, forming and issuing an array Y=PU of n 2 output signals at an output terminal thereof; the sensor module receiving the vector array Y of signals at an input terminal thereof and, in response thereto, forming and issuing an array Z=HY of n 1 signals at an output terminal thereof; measurement means connected to the feedback loop for measuring the array Z of signals received in response to provision of the array R of n 1 signals; and computation means for receiving measurements of the array Z of n 1 signals from the measurement means, for determining the entries of a matrix T, of dimensions n 1 ×n 1 and representing the closed loop response of the feedback loop, by solving the matrix identity Z=TR, for forming a quasi-inverse matrix (I-T).sup. , for determining the entries of a matrix HPC or HP.

Claim 34

The apparatus of clain 19, wherein S=S 32 and said measurement means and said computation means comprise: a signal analyzer connected to said feedback loop that measures said arrays of signals R 1 , R 2 , R 3 , E 1 , E 2 and E 3 ; and a multivariable work station, including a digital computer, a digital signal processor and associated mathematics module, that receives and temporarily stores said arrays of signals R 1 , R 2 , R 3 , E 1 , E 2 and E 3 as measured by the signal analyzer, and that determines the entries of said matrices S 32 and (I-S 32 CH).sup. or (I-CHS 32 ).sup. , the entries of said matrix C.sup. , and the entries of said matrix P by the relation P=(I-S 32 CH).sup. S 32 =S 32 (I-CHS 32 ).sup. .

Claim 35

The apparatus of clain 19, wherein S=S 32 and said measurement means and said computation means comprise: a signal analyzer connected to said feedback loop that measures said arrays of signals R 1 , R 2 , R 3 , E 1 , E 2 and E 3 ; and a multivariable work station, including a digital computer, a digital signal processor and associated mathematics module, that receives and temporarily stores said arrays of signals R 1 , R 2 , R 3 , E 1 , E 2 and E 3 as measured by the signal analyzer, and that determines the entries of said matrices S 32 and (I-S 32 CH).sup. or (I-CHS 32 ).sup. , the entries of said matrix C.sup. , and the entries of said matrix P by the relation P=(I-S 32 CH).sup. S 32 =S 32 (I-CHS 32 ).sup. .

Claim 48

A method for determining open-loop parameters for a First Configuration, multiple-input, multiple output, closed-loop control system, having a difference module, a controller module, a plant module and a sensor module arranged in that order in a feedback loop that operates in its linear operating region, the sensor module having sensor dynamics represented by a matrix H of dimensions n 1 ×n 2 , the controller module having controller dynamics represented by a matrix C of dimensions n 3 ×n 1 , and the plant module having physical system dynamics represented by a matrix P of dimensions n 2 ×n 3 , where n 1 , n 2 and n 3 are selected positive integers, the method comprising the steps of: providing an array R of n 1 predetermined input signals that are received at a first input terminal of the difference module; receiving an array Z of n 1 signals at a second input terminal of the difference module; forming and issuing a difference array E=R-Z of n 1 signals at an output terminal of the difference module; causing the controller module to receive the array E at an input terminal thereof and, in response thereto, to issue an array U=CE of n 3 intermediate output signals at an output terminal thereof; causing the plant module to receive the array U at an input terminal thereof and, in response thereto, to form and issue an array Y=PU of n 2 output signals at an output terminal thereof; causing the sensor module to receive the array Y at an input terminal thereof and, in response thereto, to form and issue the array Z=HY of n 1 signals at an output terminal thereof; providing a control system signal analyzer, connected to the difference module of the feedback loop, that injects the array of signals R, measures the array of signals Z and the array of signals R, and determines the entries of the matrix T of dimensions n 1 ×n 1 by solving the matrix identity Z=TR; measuring the array Z of n 1 signals received in response to provision of the array R of n 1 signals; determining the entries of the matrix T; forming a quasi-inverse matrix (I-T).sup. of the matrix (I-T) and determining the matrix HPC, having dimensions n 1 ×n 1 , by the relation HPC=(I-T).sup. T=T(I-T).sup. ; forming a quasi-inverse C.sup. of the matrix C; and providing a multivariable work station, including a digital computer, a digital signal processor, a mathematics module and an interface between the control system signal analyzer and the remainder of the multivariable work station, connected to the feedback loop, that receives and temporarily stores the arrays of signals R and Z as measured by the control system signal analyzer, and that receives the entries of the matrices T, (I-T).sup. and C.sup. and determines the entries of the matrix HP or HPC.

Claim 49

A method for determining open-loop parameters for a First Configuration, multiple-input, multiple output, closed-loop control system, having a difference module, a controller module, a plant module and a sensor module arranged in that order in a feedback loop that operates in its linear operating region, the sensor module having sensor dynamics represented by a matrix H of dimensions n 1 ×n 2 , the controller module having controller dynamics represented by a matrix C of dimensions n 3 ×n 1 , and the plant module having physical system dynamics represented by a matrix P of dimensions n 2 ×n 3 , where n 1 , n 2 and n 3 are selected positive integers, the method comprising the steps of: providing an array R of n 1 predetermined input signals that are received at a first input terminal of the difference module; receiving an array Z of n 1 signals at a second input terminal of the difference module; forming and issuing a difference array E=R-Z of n 1 signals at an output terminal of the difference module; causing the controller module to receive the array E at an input terminal thereof and, in response thereto, to issue an array U=CE of n 3 intermediate output signals at an output terminal thereof; causing the plant module to receive the array U at an input terminal thereof and, in response thereto, to form and issue an array Y=PU of n 2 output signals at an output terminal thereof; causing the sensor module to receive the array Y at an input terminal thereof and, in response thereto, to form and issue the array Z=HY of n 1 signals at an output terminal thereof; providing a control system signal analyzer, connected to the difference module of the feedback loop, that injects the array of signals R, measures the array of signals Z and the array of signals R, and determines the entries of the matrix T of dimensions n 1 ×n 1 by solving the matrix identity Z=TR; measuring the array Z of n 1 signals received in response to provision of the array R of n 1 signals; determining the entries of the matrix T; forming a quasi-inverse matrix (I-T).sup. of the matrix (I-T) and determining the matrix HPC, having dimensions n 1 ×n 1 , by the relation HPC=(I-T).sup. T=T(I-T).sup. ; forming a quasi-inverse C.sup. of the matrix C; and providing a multivariable work station, including a digital computer, a digital signal processor, a mathematics module and an interface between the control system signal analyzer and the remainder of the multivariable work station, connected to the feedback loop, that receives and temporarily stores the arrays of signals R and Z as measured by the control system signal analyzer, and that receives the entries of the matrices T, (I-T).sup. and C.sup. and determines the entries of the matrix HP or HPC.

Claim 50

A method for determining open-loop parameters for a First Configuration, multiple-input, multiple output, closed-loop control system, having a difference module, a controller module, a plant module and a sensor module arranged in that order in a feedback loop that operates in its linear operating region, the sensor module having sensor dynamics represented by a matrix H of dimensions n 1 ×n 2 , the controller module having controller dynamics represented by a matrix C of dimensions n 3 ×n 1 , and the plant module having physical system dynamics represented by a matrix P of dimensions n 2 ×n 3 , where n 1 , n 2 and n 3 are selected positive integers, the method comprising the steps of: providing an array R of n 1 predetermined input signals that are received at a first input terminal of the difference module; receiving an array Z of n 1 signals at a second input terminal of the difference module; forming and issuing a difference array E=R-Z of n 1 signals at an output terminal of the difference module; causing the controller module to receive the array E at an input terminal thereof and, in response thereto, to issue an array U=CE of n 3 intermediate output signals at an output terminal thereof; causing the plant module to receive the array U at an input terminal thereof and, in response thereto, to form and issue an array Y=PU of n 2 output signals at an output terminal thereof; causing the sensor module to receive the array Y at an input terminal thereof and, in response thereto, to form and issue the array Z=HY of n 1 signals at an output terminal thereof; providing a control system signal analyzer, connected to the difference module of the feedback loop, that injects the array of signals R, measures the array of signals E and the array of signals R, and determines the entries of the matrix S of dimensions n 1 ×n 1 by solving the matrix identity E=SR; measuring the array E of n 1 signals received in response to provision of the array R of n 1 signals; determining the entries of the matrix S; forming a quasi-inverse matrix S.sup. of the matrix S and determining the matrix HPC, having dimensions n 1 ×n 1 , by the relation HPC=S.sup. -I; forming a quasi-inverse C.sup. of the matrix C; and providing a multivariable work station, including a digital computer, a digital signal processor, a mathematics module and an interface between the control system signal analyzer and the remainder of the multivariable work station, connected to the feedback loop, that receives and temporarily stores the arrays of signals R and E as measured by the control system signal analyzer, and that receives the entries of the matrices, S, S.sup. and C.sup. and determines the entries of the matrix HP or HPC.

Claim 51

A method for determining open-loop parameters for a First Configuration, multiple-input, multiple output, closed-loop control system, having a difference module, a controller module, a plant module and a sensor module arranged in that order in a feedback loop that operates in its linear operating region, the sensor module having sensor dynamics represented by a matrix H of dimensions n 1 ×n 2 , the controller module having controller dynamics represented by a matrix C of dimensions n 3 ×n 1 , and the plant module having physical system dynamics represented by a matrix P of dimensions n 2 ×n 3 , where n 1 , n 2 and n 3 are selected positive integers, the method comprising the steps of: providing an array R of n 1 predetermined input signals that are received at a first input terminal of the difference module; receiving an array Z of n 1 signals at a second input terminal of the difference module; forming and issuing a difference array E=R-Z of n 1 signals at an output terminal of the difference module; causing the controller module to receive the array E at an input terminal thereof and, in response thereto, to issue an array U=CE of n 3 intermediate output signals at an output terminal thereof; causing the plant module to receive the array U at an input terminal thereof and, in response thereto, to form and issue an array Y=PU of n 2 output signals at an output terminal thereof; causing the sensor module to receive the array Y at an input terminal thereof and, in response thereto, to form and issue the array Z=HY of n 1 signals at an output terminal thereof; providing a control system signal analyzer, connected to the difference module of the feedback loop, that injects the array of signals R, measures the array of signals E and the array of signals R, and determines the entries of the matrix S of dimensions n 1 ×n 1 by solving the matrix identity E=SR; measuring the array E of n 1 signals received in response to provision of the array R of n 1 signals; determining the entries of the matrix S; forming a quasi-inverse matrix S.sup. of the matrix S and determining the matrix HPC, having dimensions n 1 ×n 1 , by the relation HPC=S.sup. -I; forming a quasi-inverse C.sup. of the matrix C; and providing a multivariable work station, including a digital computer, a digital signal processor, a mathematics module and an interface between the control system signal analyzer and the remainder of the multivariable work station, connected to the feedback loop, that receives and temporarily stores the arrays of signals R and E as measured by the control system signal analyzer, and that receives the entries of the matrices, S, S.sup. and C.sup. and determines the entries of the matrix HP or HPC.

Claim 52

A method for determining open-loop parameters for a First Configuration, multiple-input, multiple output, closed-loop control system, having a difference module, a controller module, a plant module and a sensor module arranged in that order in a feedback loop that operates in its linear operating region, the sensor module having sensor dynamics represented by a matrix H of dimensions n 1 ×n 2 , the controller module having controller dynamics represented by a matrix C of dimensions n 3 ×n 1 , and the plant module having physical system dynamics represented by a matrix P of dimensions n 2 ×n 3 , where n 1 , n 2 and n 3 are selected positive integers, the method comprising the steps of: providing an array R of n 1 predetermined input signals that are received at a first input terminal of the difference module; receiving an array Z of n 1 signals at a second input terminal of the difference module; forming and issuing a difference array E=R-Z of n 1 signals at an output terminal of the difference module; causing the controller module to receive the array E at an input terminal thereof and, in response thereto, to issue an array U=CE of n 3 intermediate output signals at an output terminal thereof; causing the plant module to receive the array U at an input terminal thereof and, in response thereto, to form and issue an array Y=PU of n 2 output signals at an output terminal thereof; causing the sensor module to receive the array Y at an input terminal thereof and, in response thereto, to form and issue the array Z=HY of n 1 signals at an output terminal thereof; providing a control system signal analyzer, connected to the difference module of the feedback loop, that injects the array of signals R, measures the array of signals U and the array of signals R, and determines the entries of the matrix V of dimensions n 3 ×n 1 by solving the matrix identity U=VR; measuring the array U of n 3 signals received in response to provision of the array R of n 1 signals; determining the entries of the matrix V; forming a quasi inverse C.sup. of the matrix C; forming a quasi-inverse matrix (C.sup. V).sup. of the matrix C.sup. V and determining the matrix HPC, having dimensions n 1 ×n 1 , by the relation HPC=(C.sup. V).sup. -I; and providing a multivariable work station, including a digital computer, a digital signal processor, a mathematics module and an interface between the control system signal analyzer and the remainder of the multivariable work station, connected to the feedback loop, that receives and temporarily stores the arrays of signals R and U as measured by the control system signal analyzer, and that receives the entries of the matrices V, (C.sup. V).sup. and C.sup. and determines the entries of the matrix HP or HPC or CHP.

Claim 53

A method for determining open-loop parameters for a First Configuration, multiple-input, multiple output, closed-loop control system, having a difference module, a controller module, a plant module and a sensor module arranged in that order in a feedback loop that operates in its linear operating region, the sensor module having sensor dynamics represented by a matrix H of dimensions n 1 ×n 2 , the controller module having controller dynamics represented by a matrix C of dimensions n 3 ×n 1 , and the plant module having physical system dynamics represented by a matrix P of dimensions n 2 ×n 3 , where n 1 , n 2 and n 3 are selected positive integers, the method comprising the steps of: providing an array R of n 1 predetermined input signals that are received at a first input terminal of the difference module; receiving an array Z of n 1 signals at a second input terminal of the difference module; forming and issuing a difference array E=R-Z of n 1 signals at an output terminal of the difference module; causing the controller module to receive the array E at an input terminal thereof and, in response thereto, to issue an array U=CE of n 3 intermediate output signals at an output terminal thereof; causing the plant module to receive the array U at an input terminal thereof and, in response thereto, to form and issue an array Y=PU of n 2 output signals at an output terminal thereof; causing the sensor module to receive the array Y at an input terminal thereof and, in response thereto, to form and issue the array Z=HY of n 1 signals at an output terminal thereof; providing a control system signal analyzer, connected to the difference module of the feedback loop, that injects the array of signals R, measures the array of signals U and the array of signals R, and determines the entries of the matrix V of dimensions n 3 ×n 1 by solving the matrix identity U=VR; measuring the array U of n 3 signals received in response to provision of the array R of n 1 signals; determining the entries of the matrix V; forming a quasi inverse C.sup. of the matrix C; forming a quasi-inverse matrix (C.sup. V).sup. of the matrix C.sup. V and determining the matrix HPC, having dimensions n 1 ×n 1 , by the relation HPC=(C.sup. V).sup. -I; and providing a multivariable work station, including a digital computer, a digital signal processor, a mathematics module and an interface between the control system signal analyzer and the remainder of the multivariable work station, connected to the feedback loop, that receives and temporarily stores the arrays of signals R and U as measured by the control system signal analyzer, and that receives the entries of the matrices V, (C.sup. V).sup. and C.sup. and determines the entries of the matrix HP or HPC or CHP.

Claim 54

A method for determining open-loop parameters for a First Configuration, multiple-input, multiple output, closed-loop control system, having a difference module, a controller module, a plant module and a sensor module arranged in that order in a feedback loop that operates in its linear operating region, the sensor module having sensor dynamics represented by a matrix H of dimensions n 1 ×n 2 , the controller module having controller dynamics represented by a matrix C of dimensions n 3 ×n 1 , and the plant module having physical system dynamics represented by a matrix P of dimensions n 2 ×n 3 , where n 1 , n 2 and n 3 are selected positive integers, the method comprising the steps of: providing an array R of n 1 predetermined input signals that are received at a first input terminal of the difference module; receiving an array Z of n 1 signals at a second input terminal of the difference module; forming and issuing a difference array E=R-Z of n 1 signals at an output terminal of the difference module; causing the controller module to receive the array E at an input terminal thereof and, in response thereto, to issue an array U=CE of n 3 intermediate output signals at an output terminal thereof; causing the plant module to receive the array U at an input terminal thereof and, in response thereto, to form and issue an array Y=PU of n 2 output signals at an output terminal thereof; causing the sensor module to receive the array Y at an input terminal thereof and, in response thereto, to form and issue the array Z=HY of n 1 signals at an output terminal thereof; providing a control system signal analyzer, connected to the difference module of the feedback loop, that injects the array of signals R, measures the array of signals Y and the array of signals R, and determines the entries of the matrix W of dimensions n 2 ×n 1 by solving the matrix identity Y=WR; measuring the array Y of n 2 signals received in response to provision of the array R of n 1 signals; determining the entries of the matrix W; forming a quasi-inverse matrix (I-HW).sup. of the matrix (I-HW) and determining the matrix HPC, having dimensions n 1 ×n 1 , by the relation HPC=(I-HW).sup. HW=HW(I-HW).sup. ; forming a quasi-inverse C.sup. of the matrix C; and providing a multivariable work station, including a digital computer, a digital signal processor, a mathematics module and an interface between the control system signal analyzer and the remainder of the multivariable work station, connected to the feedback loop, that receives and temporarily stores the arrays of signals R and Y as measured by the control system signal analyzer, and that receives the entries of the matrices W, (I-HW).sup. and C.sup. and determines the entries of the matrix HP or HPC or PCH.

Claim 55

A method for determining open-loop parameters for a First Configuration, multiple-input, multiple output, closed-loop control system, having a difference module, a controller module, a plant module and a sensor module arranged in that order in a feedback loop that operates in its linear operating region, the sensor module having sensor dynamics represented by a matrix H of dimensions n 1 ×n 2 , the controller module having controller dynamics represented by a matrix C of dimensions n 3 ×n 1 , and the plant module having physical system dynamics represented by a matrix P of dimensions n 2 ×n 3 , where n 1 , n 2 and n 3 are selected positive integers, the method comprising the steps of: providing an array R of n 1 predetermined input signals that are received at a first input terminal of the difference module; receiving an array Z of n 1 signals at a second input terminal of the difference module; forming and issuing a difference array E=R-Z of n 1 signals at an output terminal of the difference module; causing the controller module to receive the array E at an input terminal thereof and, in response thereto, to issue an array U=CE of n 3 intermediate output signals at an output terminal thereof; causing the plant module to receive the array U at an input terminal thereof and, in response thereto, to form and issue an array Y=PU of n 2 output signals at an output terminal thereof; causing the sensor module to receive the array Y at an input terminal thereof and, in response thereto, to form and issue the array Z=HY of n 1 signals at an output terminal thereof; providing a control system signal analyzer, connected to the difference module of the feedback loop, that injects the array of signals R, measures the array of signals Y and the array of signals R, and determines the entries of the matrix W of dimensions n 2 ×n 1 by solving the matrix identity Y=WR; measuring the array Y of n 2 signals received in response to provision of the array R of n 1 signals; determining the entries of the matrix W; forming a quasi-inverse matrix (I-HW).sup. of the matrix (I-HW) and determining the matrix HPC, having dimensions n 1 ×n 1 , by the relation HPC=(I-HW).sup. HW=HW(I-HW).sup. ; forming a quasi-inverse C.sup. of the matrix C; and providing a multivariable work station, including a digital computer, a digital signal processor, a mathematics module and an interface between the control system signal analyzer and the remainder of the multivariable work station, connected to the feedback loop, that receives and temporarily stores the arrays of signals R and Y as measured by the control system signal analyzer, and that receives the entries of the matrices W, (I-HW).sup. and C.sup. and determines the entries of the matrix HP or HPC or PCH.

Claim 56

A method for determining open-loop parameters for a Second Configuration, multiple-input, multiple output, closed-loop control system, having a difference module, a controller module, a sum module and a plant module arranged in that order in a feedback loop that operates in its linear operating region, the controller module having controller dynamics represented by a matrix C of dimensions n 2 ×n 1 and the plant module having physical system dynamics represented by a matrix P of dimensions n 1 ×n 2 , where n 1 and n 2 are selected positive integers, the method comprising the steps of: providing a first array R 1 of n 1 predetermined input signals that are received at a first input terminal of the difference module; receiving an array Y 2 of n 1 signals at a second input terminal of the difference module; forming and issuing a difference array E 1 =R 1 -Y 2 of n 1 signals at an output terminal of the difference module; causing the controller module to receive the array E 1 at an input terminal thereof and, in reponse thereto, to issue an array Y 1 =CE 1 of n 2 intermediate output signals at an output terminal thereof; providing a second array R 2 of n 2 predetermined input signals that are received at a first input terminal of the sum module; receiving the array Y 1 of n 2 signals at a second input terminal of the sum module; forming and issuing a sum array E 2 =R 2 +Y 1 of n 2 signals at an output terminal of the sum module; causing the plant module to receive the array E 2 at an input terminal thereof and, in response thereto, to form and issue an array Y 2 =PE 2 of n 1 output signals at an output terminal thereof; providing a control system signal analyzer, connected to the difference module of the feedback loop, that injects the first and second arrays of signals R 1 and R 2 , measures the arrays of signals Y 1 and Y 2 received in response thereto, and determines the entries of at least one of the matrices T=T 1 , T 2 , T 3 and T 4 by solving the matrix identity ##EQU12## forming at least one of the quasi-inverse matrices T 1 .sup. , (I+T 2 ).sup. , (I-T 3 ).sup. , (I-T 4 C).sup. and (I-CT 4 ).sup. ; and providing a multivariable work station, including a digital computer, a digital signal processor, a mathematics module and an interface between the control system signal analyzer and the remainder of the multivariable work station, connected to the feedback loop, that receives and temporarily stores the arrays of signals R 1 , R 2 , Y 1 and Y 2 as measured by the control system signal analyzer, and that receives the entries of at least one of the matrices C and C.sup. and the entries of at least one of the matrices T 1 .sup. , (I+T 2 ).sup. , (I-T 3 ).sup. , (I-T 4 C).sup. and (I-CT 4 ).sup. and determines the entries of the matrix P or PC or CP.

Claim 57

A method for determining open-loop parameters for a Second Configuration, multiple-input, multiple output, closed-loop control system, having a difference module, a controller module, a sum module and a plant module arranged in that order in a feedback loop that operates in its linear operating region, the controller module having controller dynamics represented by a matrix C of dimensions n 2 ×n 1 and the plant module having physical system dynamics represented by a matrix P of dimensions n 1 ×n 2 , where n 1 and n 2 are selected positive integers, the method comprising the steps of: providing a first array R 1 of n 1 predetermined input signals that are received at a first input terminal of the difference module; receiving an array Y 2 of n 1 signals at a second input terminal of the difference module; forming and issuing a difference array E 1 =R 1 -Y 2 of n 1 signals at an output terminal of the difference module; causing the controller module to receive the array E 1 at an input terminal thereof and, in reponse thereto, to issue an array Y 1 =CE 1 of n 2 intermediate output signals at an output terminal thereof; providing a second array R 2 of n 2 predetermined input signals that are received at a first input terminal of the sum module; receiving the array Y 1 of n 2 signals at a second input terminal of the sum module; forming and issuing a sum array E 2 =R 2 +Y 1 of n 2 signals at an output terminal of the sum module; causing the plant module to receive the array E 2 at an input terminal thereof and, in response thereto, to form and issue an array Y 2 =PE 2 of n 1 output signals at an output terminal thereof; providing a control system signal analyzer, connected to the difference module of the feedback loop, that injects the first and second arrays of signals R 1 and R 2 , measures the arrays of signals Y 1 and Y 2 received in response thereto, and determines the entries of at least one of the matrices T=T 1 , T 2 , T 3 and T 4 by solving the matrix identity ##EQU12## forming at least one of the quasi-inverse matrices T 1 .sup. , (I+T 2 ).sup. , (I-T 3 ).sup. , (I-T 4 C).sup. and (I-CT 4 ).sup. ; and providing a multivariable work station, including a digital computer, a digital signal processor, a mathematics module and an interface between the control system signal analyzer and the remainder of the multivariable work station, connected to the feedback loop, that receives and temporarily stores the arrays of signals R 1 , R 2 , Y 1 and Y 2 as measured by the control system signal analyzer, and that receives the entries of at least one of the matrices C and C.sup. and the entries of at least one of the matrices T 1 .sup. , (I+T 2 ).sup. , (I-T 3 ).sup. , (I-T 4 C).sup. and (I-CT 4 ).sup. and determines the entries of the matrix P or PC or CP.

Claim 58

A method for determining open-loop parameters for a Second Configuration, multiple-input, multiple output, closed-loop control system, having a difference module, a controller module, a sum module and a plant module arranged in that order in a feedback loop that operates in its linear operating region, the controller module having controller dynamics represented by a matrix C of dimensions n 2 ×n 1 and the plant module having physical system dynamics represented by a matrix P of dimensions n 1 ×n 2 , where n 1 and n 2 are selected positive integers, the method comprising the steps of: providing a first array R 1 of n 1 predetermined input signals that are received at a first input terminal of the difference module; receiving an array Y 2 of n 1 signals at a second input terminal of the difference module; forming and issuing a difference array E 1 =R 1 -Y 2 of n 1 signals at an output terminal of the difference module; causing the controller module to receive the array E l at an input terminal thereof and, in response thereto, to issue an array Y 1 =CE 1 of n 2 intermediate output signals at an output terminal thereof; providing a second array R 2 of n 2 predetermined input signals that are received at a first input terminal of the sum module; receiving the array Y 1 of n 2 signals at a second input terminal of the sum module; forming and issuing a sum array E 2 =R 2 +Y 1 of n 2 signals at an output terminal of the sum module; causing the plant module to receive the array E 2 at an input terminal thereof and, in response thereto, to form and issue an array Y 2 =PE 2 of n 1 output signals at an output terminal thereof; providing a control system signal analyzer, connected to the difference module of the feedback loop, that injects the first and second arrays of signals R 1 and R 2 , measures the arrays of signals E 1 and E 2 received in response thereto, and determines the entries of at least one of the matrices S=S 1 , S 2 , S 3 and S 4 by solving the matrix identity ##EQU13## forming at least one of the quasi-inverse matrices S 1 .sup. , (I+S 2 C).sup. , (I+CS 2 ).sup. , S 3 .sup. and S 4 .sup. ; and providing a multivariable work station, including a digital a digital signal processor, a mathematics module and an interface between the control system signal analyzer and the remainder of the multivariable work station, connected to the feedback loop, that receives and temporarily stores the arrays of signals R 1 , R 2 , E 1 and E 2 as measured by the control system signal analyzer, and that receives the entries of at least one of the matrices C and C and the entries of at least one of the matrices S 1 .sup. , (I+CS 2 ).sup. , (I+S 2 C).sup. , S 3 .sup. and S 4 .sup. and determines the entries of the matrix P or C or CP or PC. .

Claim 59

A method for determining open-loop parameters for a Second Configuration, multiple-input, multiple output, closed-loop control system, having a difference module, a controller module, a sum module and a plant module arranged in that order in a feedback loop that operates in its linear operating region, the controller module having controller dynamics represented by a matrix C of dimensions n 2 ×n 1 and the plant module having physical system dynamics represented by a matrix P of dimensions n 1 ×n 2 , where n 1 and n 2 are selected positive integers, the method comprising the steps of: providing a first array R 1 of n 1 predetermined input signals that are received at a first input terminal of the difference module; receiving an array Y 2 of n 1 signals at a second input terminal of the difference module; forming and issuing a difference array E 1 =R 1 -Y 2 of n 1 signals at an output terminal of the difference module; causing the controller module to receive the array E l at an input terminal thereof and, in response thereto, to issue an array Y 1 =CE 1 of n 2 intermediate output signals at an output terminal thereof; providing a second array R 2 of n 2 predetermined input signals that are received at a first input terminal of the sum module; receiving the array Y 1 of n 2 signals at a second input terminal of the sum module; forming and issuing a sum array E 2 =R 2 +Y 1 of n 2 signals at an output terminal of the sum module; causing the plant module to receive the array E 2 at an input terminal thereof and, in response thereto, to form and issue an array Y 2 =PE 2 of n 1 output signals at an output terminal thereof; providing a control system signal analyzer, connected to the difference module of the feedback loop, that injects the first and second arrays of signals R 1 and R 2 , measures the arrays of signals E 1 and E 2 received in response thereto, and determines the entries of at least one of the matrices S=S 1 , S 2 , S 3 and S 4 by solving the matrix identity ##EQU13## forming at least one of the quasi-inverse matrices S 1 .sup. , (I+S 2 C).sup. , (I+CS 2 ).sup. , S 3 .sup. and S 4 .sup. ; and providing a multivariable work station, including a digital a digital signal processor, a mathematics module and an interface between the control system signal analyzer and the remainder of the multivariable work station, connected to the feedback loop, that receives and temporarily stores the arrays of signals R 1 , R 2 , E 1 and E 2 as measured by the control system signal analyzer, and that receives the entries of at least one of the matrices C and C and the entries of at least one of the matrices S 1 .sup. , (I+CS 2 ).sup. , (I+S 2 C).sup. , S 3 .sup. and S 4 .sup. and determines the entries of the matrix P or C or CP or PC. .

Claim 60

A method for determining open-loop parameters for a Third Configuration, multiple-input, multiple output, closed-loop control system, having a difference module, a controller module, a first sum module, a plant module, a second sum module and a sensor module arranged in that order in a feedback loop that operates in its linear operating region, the controller module having controller dynamics represented by a matrix C of dimensions n 2 ×n 1 , the plant module having physical system dynamics represented by a matrix P of dimensions n 3 ×n 2 , and the sensor module having sensor dynamics represented by a matrix H of dimensions n 1 ×n 3 , where n 1 , n 2 and n 3 are selected positive integers, the method comprising the steps of: providing a first array R 1 of n 1 predetermined input signals that are received at a first input terminal of the difference module; receiving an array Y 3 of n 1 signals at a second input terminal of the difference module; forming and issuing a difference array E 1 =R 1 -Y 3 of n 1 signals at an output terminal of the difference module; causing the controller module to receive the array E 1 at an input terminal thereof and, in response thereto, to issue an array Y 1 =CE 1 of n 2 intermediate output signals at an output terminal thereof; providing a second array R 2 of n 2 predetermined input signals that are received at a first input terminal of the first sum module; receiving the array Y 1 of n 2 signals at a second input terminal of the first sum module; forming and issuing a sum array E 2 =R 2 +Y 1 of n 2 signals at an output terminal of the first sum module; causing the plant module to receive the array E 2 at an input terminal thereof and, in response thereto, to form and issue an array Y 2 =PE 2 of n 3 output signals at an output terminal thereof; providing a third array R 3 of n 3 predetermined input signals that are received at a first input terminal of the second sum module; receiving the array Y 2 of n 3 signals at a second input terminal of the second sum module; forming and issuing a sum array E 3 =R 3 +Y 2 of n 3 signals at an output terminal of the second sum module; causing the sensor module to receive the array E 3 at an input terminal thereof and, in response thereto, to form and issue an array Y 3 =HE 3 of n 1 output signals at an output terminal thereof; providing a control system signal analyzer, connected to the difference module, the first sum module and the second sum module of the feedback loop, that injects the first, second and third arrays of signals R 1 , R 2 and R 3 , measures the arrays of signals Y 1 , Y 2 and Y 3 received in response thereto, and determines the entries of at least one of the matrices T=T 11 , T 12 , T 13 , T 21 , T 22 , T 23 , T 31 , T 32 and T 33 by solving the matrix identity forming at least one of the quasi-inverse matrices T 11 .sup. , (I+T 12 ).sup. , (I-T 31 ).sup. , (I-T 32 C).sup. and (I-CT 32 ).sup. ; and providing a multivariable work station, including a digital computer, a digital signal processor, a mathematics module and an interface between the control system signal analyzer and the remainder of the multivariable work station, connected to the feedback loop, that receives and temporarily stores the arrays of signals R 1 , R 2 , R 3 , Y 1 , Y 2 and Y 3 as measured by the control system signal analyzer, that receives the entries of at least one of the matrices C and C.sup. , that receives the entries of at least one of the matrices T 11 .sup. , (I+T 12 ).sup. , (I-I 31 ).sup. , (I-T 32 C).sup. , and (I-CT 32 ).sup. and determines the entries of the matrix HP or HPC or CHP or PCH.

Claim 61

A method for determining open-loop parameters for a Third Configuration, multiple-input, multiple output, closed-loop control system, having a difference module, a controller module, a first sum module, a plant module, a second sum module and a sensor module arranged in that order in a feedback loop that operates in its linear operating region, the controller module having controller dynamics represented by a matrix C of dimensions n 2 ×n 1 , the plant module having physical system dynamics represented by a matrix P of dimensions n 3 ×n 2 , and the sensor module having sensor dynamics represented by a matrix H of dimensions n 1 ×n 3 , where n 1 , n 2 and n 3 are selected positive integers, the method comprising the steps of: providing a first array R 1 of n 1 predetermined input signals that are received at a first input terminal of the difference module; receiving an array Y 3 of n 1 signals at a second input terminal of the difference module; forming and issuing a difference array E 1 =R 1 -Y 3 of n 1 signals at an output terminal of the difference module; causing the controller module to receive the array E 1 at an input terminal thereof and, in response thereto, to issue an array Y 1 =CE 1 of n 2 intermediate output signals at an output terminal thereof; providing a second array R 2 of n 2 predetermined input signals that are received at a first input terminal of the first sum module; receiving the array Y 1 of n 2 signals at a second input terminal of the first sum module; forming and issuing a sum array E 2 =R 2 +Y 1 of n 2 signals at an output terminal of the first sum module; causing the plant module to receive the array E 2 at an input terminal thereof and, in response thereto, to form and issue an array Y 2 =PE 2 of n 3 output signals at an output terminal thereof; providing a third array R 3 of n 3 predetermined input signals that are received at a first input terminal of the second sum module; receiving the array Y 2 of n 3 signals at a second input terminal of the second sum module; forming and issuing a sum array E 3 =R 3 +Y 2 of n 3 signals at an output terminal of the second sum module; causing the sensor module to receive the array E 3 at an input terminal thereof and, in response thereto, to form and issue an array Y 3 =HE 3 of n 1 output signals at an output terminal thereof; providing a control system signal analyzer, connected to the difference module, the first sum module and the second sum module of the feedback loop, that injects the first, second and third arrays of signals R 1 , R 2 and R 3 , measures the arrays of signals Y 1 , Y 2 and Y 3 received in response thereto, and determines the entries of at least one of the matrices T=T 11 , T 12 , T 13 , T 21 , T 22 , T 23 , T 31 , T 32 and T 33 by solving the matrix identity forming at least one of the quasi-inverse matrices T 11 .sup. , (I+T 12 ).sup. , (I-T 31 ).sup. , (I-T 32 C).sup. and (I-CT 32 ).sup. ; and providing a multivariable work station, including a digital computer, a digital signal processor, a mathematics module and an interface between the control system signal analyzer and the remainder of the multivariable work station, connected to the feedback loop, that receives and temporarily stores the arrays of signals R 1 , R 2 , R 3 , Y 1 , Y 2 and Y 3 as measured by the control system signal analyzer, that receives the entries of at least one of the matrices C and C.sup. , that receives the entries of at least one of the matrices T 11 .sup. , (I+T 12 ).sup. , (I-I 31 ).sup. , (I-T 32 C).sup. , and (I-CT 32 ).sup. and determines the entries of the matrix HP or HPC or CHP or PCH.

Claim 62

A method for determining open-loop parameters for a Third Configuration, multiple-input, multiple output, closed-loop control system, having a difference module, a controller module, a first sum module, a plant module, a second sum module and a sensor module arranged in that order in a feedback loop that operates in its linear operating region, the controller module having controller dynamics represented by a matrix C of dimensions n 2 ×n 1 , the plant module having physical system dynamics represented by a matrix P of dimensions n 3 ×n 2 , and the sensor module having sensor dynamics represented by a matrix H of dimensions n 1 ×n 3 , where n 1 , n 2 and n 3 are selected positive integers, the method comprising the steps of: providing a first array R 1 of n 1 predetermined input signals that are received at a first input terminal of the difference module; receiving an array Y 3 of n 1 signals at a second input terminal of the difference module; forming and issuing a difference array E 1 =R 1 -Y 3 of n l signals at an output terminal of the difference module; causing the controller module to receive the array E l at an input terminal thereof and, in response thereto, to issue an array Y 1 =CE 1 of n 2 intermediate output signals at an output terminal thereof; providing a second array R 2 of n 2 predetermined input signals that are received at a first input terminal of the first sum module; receiving the array Y 1 of n 2 signals at a second input terminal of the first sum module; forming and issuing a sum array E 2 =R 2 +Y 1 of n 2 signals at an output terminal of the first sum module; causing the plant module to receive the array E 2 at an input terminal thereof and, in response thereto, to form and issue an array Y 2 =PE 2 of n 3 output signals at an output terminal thereof; providing a third array R 3 of n 3 predetermined input signals that are received at a first input terminal of the second sum module; receiving the array Y 2 of n 3 signals at a second input terminal of the second sum module; forming and issuing a sum array E 3 =R 3 +Y 2 of n 3 signals at an output terminal of the second sum module; causing the sensor module to receive the array E 3 at an input terminal thereof and, in response thereto, to form and issue an array Y 3 =HE 3 of n 1 output signals at an output terminal thereof; providing a control system signal analyzer, connected to the difference module, the first sum module and the second sum module of the feedback loop, that injects the first, second and third arrays of signals R 1 , R 2 and R 3 , measures the arrays of signals Y 1 , Y 2 and Y 3 received in response thereto, and determines the entries of at least one of the matrices T=T 11 , T 12 , T 13 , T 21 , T 22 , T 23 , T 31 , T 32 and T 33 by solving the matrix identity forming at least one of the quasi-inverse matrices T 13 .sup. , (I-HT 21 ).sup. , (I-T 21 H).sup. , (I-T 22 CH).sup. , (I-CHT 22 ).sup. , (I+T 23 ).sup. and T 33 .sup. ; and providing a multivariable work station, including a digital computer, a digital signal processor, a mathematics module and an interface between the control system signal analyzer and the remainder of the multivariable work station, connected to the feedback loop, that receives and temporarily stores the arrays of signals R 1 , R 2 , R 3 , Y 1 , Y 2 and Y 3 as measured by the control system signal analyzer, that receives the entries of at least one of the matrices C, C.sup. , H, H.sup. , CH and (CH).sup. , that receives the entries of at least one of the matrices T 13 .sup. , (I-T 21 H).sup. , (I-HT 21 ).sup. , (I-T 22 CH).sup. , (I-CHT 22 ).sup. , (I-T 23 ).sup. and T 33 .sup. and determines the entries of the matrix P or HPC or CHP or PCH or PC.

Claim 63

A method for determining open-loop parameters for a Third Configuration, multiple-input, multiple output, closed-loop control system, having a difference module, a controller module, a first sum module, a plant module, a second sum module and a sensor module arranged in that order in a feedback loop that operates in its linear operating region, the controller module having controller dynamics represented by a matrix C of dimensions n 2 ×n 1 , the plant module having physical system dynamics represented by a matrix P of dimensions n 3 ×n 2 , and the sensor module having sensor dynamics represented by a matrix H of dimensions n 1 ×n 3 , where n 1 , n 2 and n 3 are selected positive integers, the method comprising the steps of: providing a first array R 1 of n 1 predetermined input signals that are received at a first input terminal of the difference module; receiving an array Y 3 of n 1 signals at a second input terminal of the difference module; forming and issuing a difference array E 1 =R 1 -Y 3 of n l signals at an output terminal of the difference module; causing the controller module to receive the array E l at an input terminal thereof and, in response thereto, to issue an array Y 1 =CE 1 of n 2 intermediate output signals at an output terminal thereof; providing a second array R 2 of n 2 predetermined input signals that are received at a first input terminal of the first sum module; receiving the array Y 1 of n 2 signals at a second input terminal of the first sum module; forming and issuing a sum array E 2 =R 2 +Y 1 of n 2 signals at an output terminal of the first sum module; causing the plant module to receive the array E 2 at an input terminal thereof and, in response thereto, to form and issue an array Y 2 =PE 2 of n 3 output signals at an output terminal thereof; providing a third array R 3 of n 3 predetermined input signals that are received at a first input terminal of the second sum module; receiving the array Y 2 of n 3 signals at a second input terminal of the second sum module; forming and issuing a sum array E 3 =R 3 +Y 2 of n 3 signals at an output terminal of the second sum module; causing the sensor module to receive the array E 3 at an input terminal thereof and, in response thereto, to form and issue an array Y 3 =HE 3 of n 1 output signals at an output terminal thereof; providing a control system signal analyzer, connected to the difference module, the first sum module and the second sum module of the feedback loop, that injects the first, second and third arrays of signals R 1 , R 2 and R 3 , measures the arrays of signals Y 1 , Y 2 and Y 3 received in response thereto, and determines the entries of at least one of the matrices T=T 11 , T 12 , T 13 , T 21 , T 22 , T 23 , T 31 , T 32 and T 33 by solving the matrix identity forming at least one of the quasi-inverse matrices T 13 .sup. , (I-HT 21 ).sup. , (I-T 21 H).sup. , (I-T 22 CH).sup. , (I-CHT 22 ).sup. , (I+T 23 ).sup. and T 33 .sup. ; and providing a multivariable work station, including a digital computer, a digital signal processor, a mathematics module and an interface between the control system signal analyzer and the remainder of the multivariable work station, connected to the feedback loop, that receives and temporarily stores the arrays of signals R 1 , R 2 , R 3 , Y 1 , Y 2 and Y 3 as measured by the control system signal analyzer, that receives the entries of at least one of the matrices C, C.sup. , H, H.sup. , CH and (CH).sup. , that receives the entries of at least one of the matrices T 13 .sup. , (I-T 21 H).sup. , (I-HT 21 ).sup. , (I-T 22 CH).sup. , (I-CHT 22 ).sup. , (I-T 23 ).sup. and T 33 .sup. and determines the entries of the matrix P or HPC or CHP or PCH or PC.

Claim 64

A method for determining open-loop parameters for a Third Configuration, multiple-input, multiple output, closed-loop control system, having a difference module, a controller module, a first sum module, a plant module, a second sum module and a sensor module arranged in that order in a feedback loop that operates in its linear operating region, the controller module having controller dynamics represented by a matrix C of dimensions n 2 ×n 1 , the plant module having physical system dynamics represented by a matrix P of dimensions n 3 ×n 2 , and the sensor module having sensor dynamics represented by a matrix H of dimensions n 1 ×n 3 , where n 1 , n 2 and n 3 are selected positive integers, the method comprising the steps of: providing a first array R 1 of n 1 predetermined input signals that are received at a first input terminal of the difference module; receiving an array Y 3 of n 1 signals at a second input terminal of the difference module; forming and issuing a difference array E 1 =R 1 -Y 3 of n 1 signals at an output terminal of the difference module; causing the controller module to receive the array E l at an input terminal thereof and, in response thereto, to issue an array Y 1 =CE 1 of n 2 intermediate output signals at an output terminal thereof; providing a second array R 2 of n 2 predetermined input signals that are received at a first input terminal of the first sum module; receiving the array Y 1 of n 2 signals at a second input terminal of the first sum module; forming and issuing a sum array E 2 =R 2 +Y 1 of n 2 signals at an output terminal of the first sum module; causing the plant module to receive the array E 2 at an input terminal thereof and, in response thereto, to form and issue an array Y 2 =PE 2 of n 3 output signals at an output terminal thereof; providing a third array R 3 of n 3 predetermined input signals that are received at a first input terminal of the second sum module; receiving the array Y 2 of n 3 signals at a second input terminal of the second sum module; forming and issuing a sum array E 3 =R 3 +Y 2 of n 3 signals at an output terminal of the second sum module; causing the sensor module to receive the array E 3 at an input terminal thereof and, in response thereto, to form and issue an array Y 3 =HE 3 of n 1 output signals at an output terminal thereof; providing a control system signal analyzer, connected to the difference module, the first sum module and the second sum module of the feedback loop, that injects the first, second and third arrays of signals R 1 , R 2 and R 3 , measures the arrays of signals E 1 , E 2 and E 3 received in response thereto, and determines the entries of at least one of the matrices S=S 11 , S 12 , S 13 , S 21 , S 22 , S 23 , S 31 , S 32 and S 33 by solving the matrix identity ##EQU14## forming at least one of the quasi-inverse matrices S 11 .sup. , (I+CS 12 ).sup. , (I+S 12 C).sup. , S 21 .sup. , and S 22 .sup. ; and providing a multivariable work station, including a digital computer, a digital signal processor, a mathematics module and an interface between the control system signal analyzer and the remainder of the multivariable work station, connected to the feedback loop, that receives and temporarily stores the arrays of signals R 1 , R 2 , R 3 , Y 1 , Y 2 and Y 3 as measured by the control system signal analyzer, that receives the entries of at least one of the matrices C, C.sup. and H, that receives the entries of at least one of the matrices S 11 .sup. , (I+CS 12 ).sup. (I+S 12 C).sup. , S 21 .sup. and S 22 .sup. , and determines the entries of the matrix HP or HPC or CHP or PCH.

Claim 65

A method for determining open-loop parameters for a Third Configuration, multiple-input, multiple output, closed-loop control system, having a difference module, a controller module, a first sum module, a plant module, a second sum module and a sensor module arranged in that order in a feedback loop that operates in its linear operating region, the controller module having controller dynamics represented by a matrix C of dimensions n 2 ×n 1 , the plant module having physical system dynamics represented by a matrix P of dimensions n 3 ×n 2 , and the sensor module having sensor dynamics represented by a matrix H of dimensions n 1 ×n 3 , where n 1 , n 2 and n 3 are selected positive integers, the method comprising the steps of: providing a first array R 1 of n 1 predetermined input signals that are received at a first input terminal of the difference module; receiving an array Y 3 of n 1 signals at a second input terminal of the difference module; forming and issuing a difference array E 1 =R 1 -Y 3 of n 1 signals at an output terminal of the difference module; causing the controller module to receive the array E l at an input terminal thereof and, in response thereto, to issue an array Y 1 =CE 1 of n 2 intermediate output signals at an output terminal thereof; providing a second array R 2 of n 2 predetermined input signals that are received at a first input terminal of the first sum module; receiving the array Y 1 of n 2 signals at a second input terminal of the first sum module; forming and issuing a sum array E 2 =R 2 +Y 1 of n 2 signals at an output terminal of the first sum module; causing the plant module to receive the array E 2 at an input terminal thereof and, in response thereto, to form and issue an array Y 2 =PE 2 of n 3 output signals at an output terminal thereof; providing a third array R 3 of n 3 predetermined input signals that are received at a first input terminal of the second sum module; receiving the array Y 2 of n 3 signals at a second input terminal of the second sum module; forming and issuing a sum array E 3 =R 3 +Y 2 of n 3 signals at an output terminal of the second sum module; causing the sensor module to receive the array E 3 at an input terminal thereof and, in response thereto, to form and issue an array Y 3 =HE 3 of n 1 output signals at an output terminal thereof; providing a control system signal analyzer, connected to the difference module, the first sum module and the second sum module of the feedback loop, that injects the first, second and third arrays of signals R 1 , R 2 and R 3 , measures the arrays of signals E 1 , E 2 and E 3 received in response thereto, and determines the entries of at least one of the matrices S=S 11 , S 12 , S 13 , S 21 , S 22 , S 23 , S 31 , S 32 and S 33 by solving the matrix identity ##EQU14## forming at least one of the quasi-inverse matrices S 11 .sup. , (I+CS 12 ).sup. , (I+S 12 C).sup. , S 21 .sup. , and S 22 .sup. ; and providing a multivariable work station, including a digital computer, a digital signal processor, a mathematics module and an interface between the control system signal analyzer and the remainder of the multivariable work station, connected to the feedback loop, that receives and temporarily stores the arrays of signals R 1 , R 2 , R 3 , Y 1 , Y 2 and Y 3 as measured by the control system signal analyzer, that receives the entries of at least one of the matrices C, C.sup. and H, that receives the entries of at least one of the matrices S 11 .sup. , (I+CS 12 ).sup. (I+S 12 C).sup. , S 21 .sup. and S 22 .sup. , and determines the entries of the matrix HP or HPC or CHP or PCH.

Claim 66

A method for determining open-loop parameters for a Third Configuration, multiple-input, multiple output, closed-loop control system, having a difference module, a controller module, a first sum module, a plant module, a second sum module and a sensor module arranged in that order in a feedback loop that operates in its linear operating region, the controller module having controller dynamics represented by a matrix C of dimensions n 2 x n 1 , the plant module having physical system dynamics represented by a matrix P of dimensions n 3 x n 2 , and the sensor module having sensor dynamics represented by a matrix H of dimensions n 1 ×n 3 , where n 1 , n 2 and n 3 are selected positive integers, the method comprising the steps of: providing a first array R 1 of n 1 predetermined input signals that are received at a first input terminal of the difference module; receiving an array Y 3 of n 1 signals at a second input terminal of the difference module; forming and issuing a difference array E 1 =R 1 -Y 3 of n 1 signals at an output terminal of the difference module; causing the controller module to receive the array E 1 at an input terminal thereof and, in response thereto, to issue an array Y 1 =CE 1 of n 2 intermediate output signals at an output terminal thereof; providing a second array R 2 of n 2 predetermined input signals that are received at a first input terminal of the first sum module; receiving the array Y 1 of n 2 signals at a second input terminal of the first sum module; forming and issuing a sum array E 2 =R 2 +Y 1 of n 2 signals at an output terminal of the first sum module; causing the plant module to receive the array E 2 at an input terminal thereof and, in response thereto, to form and issue an array Y 2 =PE 2 of n 3 output signals at an output terminal thereof; providing a third array R 3 of n 3 predetermined input signals that are received at a first input terminal of the second sum module; receiving the array Y 2 of n 3 signals at a second input terminal of the second sum module; forming and issuing a sum array E 3 =R 3 +Y 2 of n 3 signals at an output terminal of the second sum module; causing the sensor module to receive the array E 3 at an input terminal thereof and, in response thereto, to form and issue an array Y 3 =HE 3 of n 1 output signals at an output terminal thereof; providing a control system signal analyzer, connected to the difference module, the first sum module and the second sum module of the feedback loop, that injects the first, second and third arrays of signals R 1 , R 2 and R 3 , measures the arrays of signals E 1 , E 2 and E 3 received in response thereto, and determines the entries of at least one of the matrices S=S 11 , S 12 , S 13 , S 21 , S 22 , S 23 , S 31 , S 32 and S 33 by solving the matrix identity ##EQU15## forming at least one of the quasi-inverse matrices S 13 .sup. , S 23 .sup. , (I-S 31 H).sup. , (I-HS 31 ).sup. , (I-S 32 CH).sup. , (I-CHS 32 ).sup. and S 33 .sup. ; and providing a multivariable work station, including a digital computer, a digital signal processor, a mathematics module and an interface between the control system signal analyzer and the remainder of the multivariable work station, connected to the feedback loop, that receives and temporarily stores the arrays of signals R 1 , R 2 , R 3 , Y 1 , Y 2 and Y 3 as measured by the control system signal analyzer, that receives the entries of at least one of the matrices H.sup. , CH and (CH).sup. , that receives the entries of at least one of the matrices S 13 .sup. , S 23 .sup. , (I-HS 31 ).sup. , (I-S 31 H).sup. , (I-S 32 CH).sup. , (I-CHS 32 ).sup. and S 33 .sup. and determines the entries of the matrix P or HPC or CHP or PCH or PC.

Claim 67

A method for determining open-loop parameters for a Third Configuration, multiple-input, multiple output, closed-loop control system, having a difference module, a controller module, a first sum module, a plant module, a second sum module and a sensor module arranged in that order in a feedback loop that operates in its linear operating region, the controller module having controller dynamics represented by a matrix C of dimensions n 2 x n 1 , the plant module having physical system dynamics represented by a matrix P of dimensions n 3 x n 2 , and the sensor module having sensor dynamics represented by a matrix H of dimensions n 1 ×n 3 , where n 1 , n 2 and n 3 are selected positive integers, the method comprising the steps of: providing a first array R 1 of n 1 predetermined input signals that are received at a first input terminal of the difference module; receiving an array Y 3 of n 1 signals at a second input terminal of the difference module; forming and issuing a difference array E 1 =R 1 -Y 3 of n 1 signals at an output terminal of the difference module; causing the controller module to receive the array E 1 at an input terminal thereof and, in response thereto, to issue an array Y 1 =CE 1 of n 2 intermediate output signals at an output terminal thereof; providing a second array R 2 of n 2 predetermined input signals that are received at a first input terminal of the first sum module; receiving the array Y 1 of n 2 signals at a second input terminal of the first sum module; forming and issuing a sum array E 2 =R 2 +Y 1 of n 2 signals at an output terminal of the first sum module; causing the plant module to receive the array E 2 at an input terminal thereof and, in response thereto, to form and issue an array Y 2 =PE 2 of n 3 output signals at an output terminal thereof; providing a third array R 3 of n 3 predetermined input signals that are received at a first input terminal of the second sum module; receiving the array Y 2 of n 3 signals at a second input terminal of the second sum module; forming and issuing a sum array E 3 =R 3 +Y 2 of n 3 signals at an output terminal of the second sum module; causing the sensor module to receive the array E 3 at an input terminal thereof and, in response thereto, to form and issue an array Y 3 =HE 3 of n 1 output signals at an output terminal thereof; providing a control system signal analyzer, connected to the difference module, the first sum module and the second sum module of the feedback loop, that injects the first, second and third arrays of signals R 1 , R 2 and R 3 , measures the arrays of signals E 1 , E 2 and E 3 received in response thereto, and determines the entries of at least one of the matrices S=S 11 , S 12 , S 13 , S 21 , S 22 , S 23 , S 31 , S 32 and S 33 by solving the matrix identity ##EQU15## forming at least one of the quasi-inverse matrices S 13 .sup. , S 23 .sup. , (I-S 31 H).sup. , (I-HS 31 ).sup. , (I-S 32 CH).sup. , (I-CHS 32 ).sup. and S 33 .sup. ; and providing a multivariable work station, including a digital computer, a digital signal processor, a mathematics module and an interface between the control system signal analyzer and the remainder of the multivariable work station, connected to the feedback loop, that receives and temporarily stores the arrays of signals R 1 , R 2 , R 3 , Y 1 , Y 2 and Y 3 as measured by the control system signal analyzer, that receives the entries of at least one of the matrices H.sup. , CH and (CH).sup. , that receives the entries of at least one of the matrices S 13 .sup. , S 23 .sup. , (I-HS 31 ).sup. , (I-S 31 H).sup. , (I-S 32 CH).sup. , (I-CHS 32 ).sup. and S 33 .sup. and determines the entries of the matrix P or HPC or CHP or PCH or PC.