Hi Armin, did you manage to fix this problem?
Step Response of a specific MIMO system
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Hi,
I'm working on MIMO (2 input, 2 output) systems with PID controllers.
Recently i'm trying to regenerate results of a paper. This is the system:
![](https://www.mathworks.com/matlabcentral/answers/uploaded_files/288283/image.jpeg)
-2.0966 , -0.85319 -0.6741 3.3801 0.48281 0.87473
I used this code (Which works perfectly on another system), Apparently i have some issue with Delays. But i don't know how to fix this.
x = [-2.0966 , -0.85319 , -0.6741,...
3.3801 , 0.48281 , 0.87473];
s = tf ('s');
K1 = pid( x(1) , x(2) , x(3) );
K2 = pid( x(4) , x(5) , x(6) );
K = [K1 , 0 ; 0 , K2];
G = [ -2.2 * exp( - 1 *s) /( 7*s+1) ,...
1.3 * exp( -0.3*s) /( 7*s+1) ;...
-2.8 * exp( -1.8*s) /(9.5*s+1) , ...
4.3 * exp(-0.35*s) /(9.2*s+1)];
CL = feedback(G*K , eye(2));
step(CL);
Error:
![](https://www.mathworks.com/matlabcentral/answers/uploaded_files/288284/image.jpeg)
Could you help me please, how can i get step response of this system?
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