User`s guide

LQG Regulation
9-49
Next, plot the open- and closed-loo p time responses to the white noise inputs
(using the MIMO LQG regulator for feedback).
% Form the closed-loop model
cl = feedback(Pc,RegMIMO,1:2,3:4,+1);
% Simulate with LSIM using same noise inputs
lsim(Pc(1:2,3:6),':',cl(1:2,3:6),'-',wxy,t)
The MIMO design is a clear improvement over t he separate SISO designs for
each axis. In particular, the level of / thickness variation is now comparable
to that obtained in the decoupled case. This example illustrates the benefits of
direct MIMO design for multivariable systems.
x
y