Fully automated design of compensated multivariable linear systems

The current paper establishes a rapid, real-time algorithm for the synthesis of the reaction matrices used by compensators that reduces multivariable linear systems to extended systems that are cyclical. Thus, the driving of the extended systems (original multivariable system plus compensator) is reduced to a reaction that depends on the outputs and a set of references calculated by the proposed algorithm. The algorithm derives the structure of the compensator and the values of its components (amplifiers and integrators) as well as the values of the references. The paper is divided into two main sections: the derivation of the algorithm and the description of the program.