Evaluation of a quadratic performance criterion for 3-term control loops

A general procedure for evaluating a weighted mean-square-error criterion for multivariable systems is presented. By incorporating pure time delays as Padé approximations, the method may be applied to interacting computer control loops which are subjected to random load disturbances, thus leading to optimal-control-algorithm settings. A matrix solution of the integral criterion using Gaussian elimination obviates the need for standard-integral tables.