K is) R in+ R in + R f Fig. 5. Impedance looking into summing node method is obvious. T h e designer must decide whether the method is applicable and may have to investigate certain items in the light of his particular case; for example :1. Methods for handling repeated real poles or poles so close t o each other as t o cause very large residues.2. Methods for summing and subtracting signals, in one device, or for getting a bipolar signal, if the circuitry must be reduced to an absolute minimum.3. Errors arising from the fact that differences of quantities whose magnitudes are close are sometimes required.4. The extent of permissible interaction.5. The range of the method's applicability for complex poles as a function of damping and natural frequency, with particular regard to required amplifier loading and inductor characteristics.In connection with item 1, the scheme Synopsis: A systematic design procedure has been developed for noninteracting control of multivariable systems. Unlike previously proposed design techniques, which are mostly based on closed-loop complexfrequency transfer functions, the method described here is based on open-loop realfrequency Bode diagrams-with the advantage that considerations of control specifications, physical realizability, and stability can be included in a simple and straightforward manner. Such simplicity in design is essential for noninteracting control for large realistic systems where digital computational aid is indispensable. E A R L Y A T T E M P T S t o control rela-tively complex, multivariable plants usually ended in incomplete or n o control suggested for complex poles might be considered if parameters are set for critical or overdamped performance. However, because this scheme requires an inductor, standard RC networks described in handbooks may prove more practical.The optimum solution t o item 2 probably is not available in commercial components. If the proposed method of transfer-function synthesis obtained wide acceptance, such components might be developed.Material pertaining to item 3 appears in the paper.As to item 4, I would estimate 20-to 40decibel isolation as the range of interest for control-system design. In the case of the carrier system mentioned in the paper, sufficient isolation is often available without further changes in existing circuity, based on passive compensation networks. The isolation already present may have arisen from the need to isolate the chopper, or, in a multiloop system, to add signals occurring on different paths. If a d-c of some variables. Interactions between variables were unknown, or were accepted as ungovernable b u t undesirable disturbances.Strong variable dependencies were utilized, where possible, in t h e main control loops. Since t h e controller w a s frequently a h u m a n operator, t h e quality of control was subject t o t h e usual h u m a n vagaries. I n addition, t h e systems were often m a d e purposely sluggish a n d u nresponsive for safety reasons. D e m a n d s within t h e last decade for more compl...
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