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Forma canonic P:
G
11
+
G
12
y
1
+
G
21
G
22
u
1
u
2
+ y
2
+
G( s)=
[
G
11
G
21
G
12
G
22
]
Y ( s )=G( s)U ( s)
Y ( s )=[ y
1
y
2
]
T
U( s)=[ u
1
u
2
]
T
unde:
8.1 Reglarea proceselor multivariabile
Forma canonic V:
G
11
+
G
12
y
1
+
G
21
G
22
u
1
u
2
+ y
2
+
[
y
1
y
2
]
=
[
G
11
0
0 G
22
]
[
[
u
1
u
2
]
+
[
0 G
21
G
12
0
] [
y
1
y
2
]
]
G
k
( s)=
[
G
11
0
0 G
22
]
, G
h
(s)=
[
0 G
21
G
12
0
]
Y ( s )=G
k
( s)U ( s)+G
k
( s)G
h
( s)Y ( s)
Y ( s )=
[
I G
k
( s)G
h
( s )
]
1
G
k
( s)U( s)
8.1 Reglarea proceselor multivariabile
r
1
+
2
r
2
Regulatoare
mono!aria"ile
Proces
8.1 Reglarea proceselor multivariabile
r
1
+
2
r
2
R#$ Proces
+
+
+
u
2
+
G
12
R
G
21
R
u
1
8.2 Reglarea noninteractiv a
proceselor multivariabile
G
R
G
f
G
p
% %
y=
(
I +G
f
G
R
)
1
G
f
G
R
r+
(
I +G
f
G
R
)
1
G
p
p
y=G
0
r+G
0p
p
dim y " dim u " dim p
8.2 Reglarea noninteractiv a
proceselor multivariabile
#ipuri de decuplri:
M.d.t. a regulatorului:
G
R
=G
f
1
G
d
=
ad& G
f
det G
f
G
d
G
d
=
[
G
d
11
0
0 G
d
22
]
r
1
G
22
y
2
u
2
f
G
2
R
+
2
r
2
G
R
=
1
G
f
11
G
f
22
G
f
12
G
f
21
[
G
f
22
G
f
11
G
R
1
G
f
21
G
f
22
G
R
2
G
f
12
G
f
11
G
R
1
G
f
11
G
f
22
G
R
2
]
Regulatoarele principale:
G
R
11
=
G
f
22
G
f
11
G
R
1
G
f
11
G
f
22
G
f
12
G
f
21
; G
R
22
=
G
f
11
G
f
22
G
R
2
G
f
11
G
f
22
G
f
12
G
f
21
Regulatoarele de decuplare:
G
R
12
=
G
f
21
G
f
11
G
R
1
G
f
11
G
f
22
G
f
12
G
f
21
; G
R
21
=
G
f
12
G
f
22
G
R
2
G
f
11
G
f
22
G
f
12
G
f
21
8.3 Decuplare n circuit deschis
r
1
+
2
r
2
R#$
Proces
+
+
+
u
2
+
G
12
R
G
21
R
u
1
Regulatoare
principale
Regulatoare
de decuplare
8.3 Decuplare n circuit deschis
M.d.t. a RMV:
[ I G
h
]
1
G
R
p
=G
f
1
G
d
G
h
=I G
R
p
G
d
1
G
f
[
0 G
R
21
G
R
12
0
]
=
[
1 0
0 1
]
[
G
R
1
0
0 G
R
2
]
[
1
G
d
11
0
0
1
G
d
22
]
[
G
f
11
G
f
21
G
f
12
G
f
22
]
.
sau:
G
R
=G
Rd
G
Rp
=[ I G
h
]
1
G
Rp
8.3 Decuplare n circuit deschis
Regulatoarele de decuplare:
12 21
12 21
22 11
'
f f
R R
f f
G G
G G
G G
r
1
+
2
r
2
R#$
Proces
+
+
+
u
2
+
G
12
f
G
21
f
u
1
Regulatoare
principale
Regulatoare
de decuplare
8.3 Decuplare n circuit deschis
G
R
=G
R
d
G
R
p
=
[
1 G
R
21
G
R
12
1 ][
G
R
1
0
0 G
R
2
]
1
]
1
0
0
'
0
0
12
21
22
11
f
f
f
f
f
f
G
G
G
G
h k
G G
G
f
=
[
I G
f
k
G
f
h
]
1
G
f
k
,
21 1 11
12 2 22
11 21 11
11 12 22
1
1 0 1 0
1 0
1 0 0 1 0 1
0 0 0
0 0 0
R R f
f d
R R f
f f d
f f d
G G G
G G G
G G G
G G G
1 1 1
1 1 1
'
1
1 1 1 ]
] ] ]
1 1 1
1 1 1
;
1 1 1
] ] ]
G G
12 11 12 21 22 21
(
R f f R f f
G G G G G G
Regulatoarele de decuplare:
8.4 Decuplare n circuit nchis
Se d sistemul multivariabil:
Exemplu
Exemplu