Patent Document ID: 5446648
Application ID: 07843665
Patent Flag: 1

Claim One:
1. Apparatus for determining open-loop parameters for a First Configuration, multiple-input, multiple output, closed-loop control system, the apparatus comprising: a feedback loop having a difference module, a controller module, a plant module and a sensor module arranged in that order in a feedback loop that operates in its linear operating region, the sensor module having sensor dynamics represented by a matrix H of dimensions n.sub.1 .times.n.sub.2, the controller module having controller dynamics represented by a matrix C of dimensions n.sub.3 .times.n.sub.1, and the plant module having physical system dynamics represented by a matrix P of dimensions n.sub.2 .times.n.sub.3, where n.sub.1, n.sub.2 and n.sub.3 are selected positive integers; the difference module having a first input terminal that receives an array R of n.sub.1 predetermined input signals, having a second input terminal that receives an array Z of n.sub.1 input signals, and having an output terminal, where the difference module forms and issues at its output terminal a difference signal array E=R-Z; the controller module receiving the vector array E of signals at an input terminal thereof and, in response thereto, forming and issuing an array U=CE of n.sub.3 intermediate output signals at an output terminal thereof; the plant module receiving the vector array U of signals at an input terminal thereof and, in response thereto, forming and issuing an array Y=PU of n.sub.2 output signals at an output terminal thereof; the sensor module receiving the vector array Y of signals at an input terminal thereof and, in response thereto, forming and issuing an array Z=HY of n.sub.1 signals at an output terminal thereof; measurement means connected to the feedback loop for measuring the array Z of signals received in response to provision of the array R of n.sub.1 signals; and computation means for receiving measurements of the array Z of n.sub.1 signals from the measurement means, for determining the entries of a matrix T, of dimensions n.sub.1 .times.n.sub.1 and representing the closed loop response of the feedback loop, by solving the matrix identity Z=TR, for forming a quasi-inverse matrix (I-T).sup. , for determining the entries of a matrix HPC or HP.