New geometric perspective on MIMO systems

M. L. Nagurka, T. R. Kurfess

Research output: Contribution to journalConference articlepeer-review


This paper promotes a new graphical representation of the behavior of liner, time-invariant, multivariable systems highly suited for exploring the influence of closed-loop system parameters. The development is based on the adjustment of a scalar control gain cascaded with a square multivariable plant embedded in an output feedback configuration. By tracking the closed-loop eigenvalues as an explicit function of gain, it is possible to visualize the multivariable root loci in a set of ″gain plots″ consisting of two graphs : (i) magnitude of system eigenvalues vs. gain and (ii) argument (angle) of system eigenvalues vs gain. By depicting unambiguously the polar coordinates of each eigenvalue in the complex plane, the gain plots complement the standard multi-input, multi-output root locus plot. Two example problems demonstrate the utility of gain plots for interpreting linear multivariable system behavior.

Original languageEnglish
Pages (from-to)1-7
Number of pages7
JournalAmerican Society of Mechanical Engineers (Paper)
StatePublished - 1 Dec 1992
Externally publishedYes
EventWinter Annual Meeting - Anaheim, CA, USA
Duration: 8 Nov 199213 Nov 1992

ASJC Scopus subject areas

  • Mechanical Engineering


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