Optimal Tracking Performance Analysis of MIMO Control Systems Under Multiple Constraints

This article is concerned with the optimal tracking performance on linear time-invariant (LTI) discrete-time multi-input-multi-output (MIMO) systems based on quantization, channel noise, and encoding-decoding, as well as bandwidth constraints. Meanwhile, power constraint, feedback and feedforward loops constraints of the systems are also taken into account. The tracking performance expression is described by inner-outer factorization, which is obtained by all stabilizing two-degree-of-freedom compensators. The results will illustrate that tracking performance limitation is decided by nonminimum phase zeros and unstable poles of the given plant. Moreover, time delay, encoding-decoding, channel noise, quantization, and bandwidth constraints also impact the performance. The accuracy of the method is verified by simulation examples.