2 input-2 output control

1. Dec 16, 2015

Maylis

1. The problem statement, all variables and given/known data
Hello, I want to control a system that looks like this

2. Relevant equations

3. The attempt at a solution
So my relative gain array is

$$\Lambda = \begin{bmatrix} 0.8537 & 0.1463 \\ 0.1463 & 0.8537 \end{bmatrix}$$
So I know I should pair $u_{1}$ with $y_1$ and $u_2$ with $y_2$

I know when $0 < \lambda_{ij} < 1$, then I should tune the controller with the second loop closed. However, does that mean I should delete the second controller and work with only one controller initially? What is the "Second Loop"? I don't know which pathway that corresponds to!!

2. Dec 16, 2015

Maylis

I was able to solve it by just creating a separate controller and tuning each $g_{c1}$ for $g_{11}$ and $g_{c2}$ for $g_{22}$, then putting those controllers into my simulink model in the OP. However, I'm wondering in general what steps should be done?