A modified configuration for linear multivariable servomechanisms

Recent results on system type for linear multivariable servomechanisma are applied to a previously proposed type r multivariable servomechanism structure to obtain a new configuration. The latter possesses design freedom not present in the first configuration ; this permits optimization of certain transient response properties of the closed-loop system without affecting previously specified system type and closed-loop pole location. An example is presented which demonstrates over a 35% improvement in integral-square tracking error relative to that for the original configuration.