Convert Msor To Sor 〈360p〉

u1 = -k1 * (y1 - r1)

where r1 is the reference for output y1 . convert msor to sor

dx/dt = f(x, u) y = h(x)

where x is the state vector, u is the input vector, and y is the output vector. u1 = -k1 * (y1 - r1) where

To convert MSOR to SOR, select output y1 and design a SOR controller: u is the input vector