where x is the state vector, u is the input vector, and y is the output vector.
Design a SOR controller for the selected output y_i .
u1 = -k1 * (y1 - r1)
Consider a simple example of a 2-input, 2-output system:
dx/dt = f(x, u) y = h(x)
To convert MSOR to SOR, select a single output y_i and rewrite the system as:
dx1/dt = -x1 + u1 dx2/dt = -x2 + u2 y1 = x1 y2 = x2 convert msor to sor
where r1 is the reference for output y1 .