Method and apparatus for multi-variable control of the physical plant with a high-dimensional multiple constraints, forming the desired plant dynamics of the main control output to each other mathematically decoupled pseudo input / control outputs controlled physical plant is to track the main control referenced to provide a pseudo-input generated by the desired main output tracking for selective, mathematically decoupled constraints each other and not tradeoff controlled physical plant main control mathematically decoupled constraints from the output, and by forming the desired plant dynamics of the simulated input / constraints output tracks the constraint control limits, pseudo that are generated by the desired constraints output track for selective Most provide input, most restrictive provides a strong constraint smooth pseudo input for the selected down combined main controlled, selected is the main control output and decoupling are not tradeoff is decoupled including, by controlling the physical plant using restrictive strong constraints. .. [Selection Figure Figure 1.
展开▼
