An integral constraint for single input two output feedback systems (Q5950246)

A linear feedback system with the plant having single input and two outputs (SITO) is considered. The direction of the plant at a fixed frequency is determined by the range of the plant transfer function at that frequency. It is shown that the plants for which the direction varies significantly within the desired closed-loop bandwidth are subject to inherent design limitations. These limitations are described using an integral relation that must be satisfied by the output complementary sensitivity function. This integral relation is an extension of the complementary sensitivity integral to the SITO case.