Scaling and redundacy for ill-conditioned two input, two output plants. (Q5960320)

Two causes of ill-conditioning in multivariable plants are investigated. The first is when one input has significantly less gain than another and the second is when two inputs are almost redundant. To quantify these sources of ill-conditioning, the input and output redunancy angles are defined and then related to the plant inverse and condition number. The effect of scaling on the redundancy angles is investigated. A partial example of application to a reactive ion etcher is given.