Sor — Convert Msor To

To convert MSOR to SOR, select a single output y_i and rewrite the system as:

where r1 is the reference for output y1 . convert msor to sor

To convert MSOR to SOR, select output y1 and design a SOR controller: To convert MSOR to SOR, select a single

dx/dt = f(x, u) y = h(x)

u1 = -k1 * (y1 - r1)