5x5 system y1 y2 y3 y4 y5 SUMMARY TABLE matrix variables y1, y2, y3, y4, y5 u1, u2, u3, u4, u5 y2,

y3, y4, y5, u2, u3, u4, u5 y2, y3, y4, y5, u1, u3, u4, u5 y2, y3, y4, y5, u1, u2, u4, u5 y2, y3, y4, y5, u1, u2, u3, u5 y2, y3, y4, y5, u1, u2, u3, u4 59.9373 -0.2773 1.0000 1.0000 -35.6580 -1.1120 1.0000 1.0000 65.4738 1.0000 1.0000 0.2539 43.0597 1.0000 1.0000 0.9208 determinant |K| eigen value () single value (SV) u1 36.67 -35.63 0 0 -0.04 u2 -61.99 60.8 0 0 2.18 u3 0 0 1 0 0 u4 0 0 0 1 0

5X5

-16.6214

39.6514

4x4

0 -35.6299 1.2834 -0.6417 + 1.1106i -0.6417 - 1.1106i -61.9967 -0.5280 + 1.1223i -0.5280 - 1.1223i 1.0627 70.4965 1.0673 1.0000 1.0000 93.8863 1.0795 1.0000 1.0000

-75.2414

y1, y2, y3, y4, u2, u3, u4, u5

-101.3497

u5 26.31 -24.17 0 0 -1.14

condition num (CN)

analysis

action

CN > 10 difficult to run 5x5 multi loop system proceed 4x4

257.9095

CN > 10 difficult to run 4x4 multi loop system proceed 3x3

46.7610

CN > 10 difficult to run 4x4 multi loop system proceed 3x3

inf

determinant = 0, matric is singular, not linearly independent, difficult to control determinant = 0, matric is singular, not linearly independent, difficult to control

eliminate

inf

eliminate

70.4965

CN > 10, difficult to run 4x4 multi loop system proceed 3x3

93.8863

CN > 10 difficult to run 4x4 multi loop system proceed 3x3

4x4 system

u2 y2 y3 y4 y5
60.8 0 0 2.18

u3
0 1 0 0

u4
0 0 1 0

u5
-24.17 0 0 -1.14

matrix

variables

determinant |K|

eigen value ()

single value (SV)

condition num (CN)

y3, y4, y5, u3, u4, u5

-1.14

-1.1400 1.0000 1.0000

1.14

y3, y4, y5, u2, u4, u5

inf

y3, y4, y5, u2, u3, u5

inf

y3, y4, y5, u2, u3, u4

2.18

-0.6483 -0.6483 1.2966

2.1800 1.0000 1.0000

2.18

y1, y4, y5, u3, u4, u5

inf

y1, y4, y5, u2, u4, u5

-16.6214

59.9373 -0.2773 1.0000

65.4738 1.0000 0.2539

257.9095

y1, y4, y5, u2, u3, u5

inf

3x3

y1, y4, y5, u2, u3, u4

inf

3x3 y1, y3, y5, u3, u4, u5

inf

y1, y3, y5, u2, u4, u5

inf

y1, y3, y5, u2, u3, u5

-16.6214

59.9373 -0.2773 1.0000

65.4738 1.0000 0.2539

257.9095

y1, y3, y5, u2, u3, u4

inf

y1, y3, y4, u3, u4, u5

-24.17

-2.8913 1.4456 + 2.5039i 1.4456 - 2.5039i

24.1700 1.0000 1.0000

24.17

y1, y3, y4, u2, u4, u5

inf

y1, y3, y4, u2, u3, u5

inf

y1, y3, y4, u2, u3, u4

60.8

1.0000 1.0000 60.8000

60.8000 1.0000 1.0000

60.8

u1 y2 y3 y4 y5
-35.63 0 0 -0.04

analysis

action

matrix

variables

determinant |K|

CN < 10

proceed RGA

y3, y4, y5, u3,u4, u5

-1.14

determinant = 0, matric is singular, not linearly independent, difficult to control determinant = 0, matric is singular, not linearly independent, difficult to control

eliminate

y3, y4, y5, u1,u4, u5

eliminate

y3, y4, y5, u1,u3, u5

CN < 10

proceed RGA

y3, y4, y5, u1,u3, u4

-0.04

determinant = 0, matric is singular, not linearly independent, difficult to control CN > 10 difficult to run 3x3 multi loop system determinant = 0, matric is singular, not linearly independent, difficult to control determinant = 0, matric is singular, not linearly independent, difficult to control

eliminate

y2, y4, y5, u3,u4, u5

proceed 2x2

y2, y4, y5, u1,u4, u5

39.6514

eliminate

y2, y4, y5, u1,u3, u5

eliminate 3x3

y2, y4, y5, u1,u3, u4

3x3

determinant = 0, matric is singular, not linearly independent, difficult to control determinant = 0, matric is singular, not linearly independent, difficult to control CN > 10 difficult to run 3x3 multi loop system determinant = 0, matric is singular, not linearly independent, difficult to control CN > 10 difficult to run 3x3 multi loop system determinant = 0, matric is singular, not linearly independent, difficult to control determinant = 0, matric is singular, not linearly independent, difficult to control determinant = 0, matric is singular, not linearly independent, difficult to control

eliminate

y2, y3, y5, u3,u4, u5

eliminate

y2, y3, y5, u1,u4, u5

proceed 2x2

y2, y3, y5, u1,u3, u5

39.6514

eliminate

y2, y3, y5, u1,u3, u4

proceed 2x2

y2, y3, y4, u3,u4, u5

-24.17

eliminate

y2, y3, y4, u1,u4, u5

eliminate

y2, y3, y4, u1,u3, u5

eliminate

y2, y3, y4, u1,u3, u4

-35.63

u3
0 1 0 0

u4
0 0 1 0

u5
-24.17 0 0 -1.14

eigen value ()

single value (SV)

condition num (CN)

analysis

action

-1.1400 1.0000 1.0000

1.14

CN < 10

proceed RGA

inf

determinant = 0, matric is singular, not linearly independent, difficult to control determinant = 0, matric is singular, not linearly independent, difficult to control

eliminate

inf

eliminate

-0.3420 0.1710 + 0.2962i 0.1710 - 0.2962i

1.0000 1.0000 0.0400

25

CN > 10 difficult to run 3x3 multi proceed 2x2 loop system

inf

determinant = 0, matric is singular, not linearly independent, difficult to control

eliminate

-35.6580 -1.1120 1.0000

43.0597 1.0000 0.9208

46.761

CN > 10 difficult to run 3x3 multi proceed 2x2 loop system determinant = 0, matric is singular, not linearly independent, difficult to control determinant = 0, matric is singular, not linearly independent, difficult to control

inf

eliminate

inf

eliminate

inf

determinant = 0, matric is singular, not linearly independent, difficult to control determinant = 0, matric is singular, not linearly independent, difficult to control

eliminate

inf

eliminate

-35.6580 -1.1120 1.0000

43.0597 1.0000 0.9208

46.761

CN > 10 difficult to run 3x3 multi proceed 2x2 loop system determinant = 0, matric is singular, not linearly independent, difficult to control

inf -2.8913 1.4456 + 2.5039i 1.4456 - 2.5039i 24.1700 1.0000 1.0000

eliminate

24.17

CN > 10 difficult to run 3x3 multi proceed 2x2 loop system determinant = 0, matric is singular, not linearly independent, difficult to control determinant = 0, matric is singular, not linearly independent, difficult to control

inf

eliminate

inf

eliminate

-35.6300 1.0000 1.0000

35.6300 1.0000 1.0000

35.63

CN > 10 difficult to run 3x3 multi proceed 2x2 loop system

u1 y2 y3 y4 y5
-35.63 0 0 -0.04

u2
60.8 0 0 2.18

u3
0 1 0 0

u4
0 0 1 0

matrix

variables

determinant |K|

eigen value ()
-0.6483 + 1.1229i -0.6483 - 1.1229i 1.2966

single value (SV)

condition num (CN)

y3, y4, y5, u2, u3, u4

2.18

2.18

y3, y4, y5, u1, u3, u4

-0.04

-0.3420 0.1710 + 0.2962i 0.1710 - 0.2962i

25

y3, y4, y5, u1, u2, u4

inf

y3, y4, y5, u1, u2, u3

inf

y2, y4, y5, u2,u3, u4

inf

y2, y4, y5, u1,u3, u4

inf

y2, y4, y5, u1,u2, u4

75.2414

-35.6319 -1.4522 1.4541

70.4965 1.0673 1.0000

70.4965

3x3

y2, y4, y5, u1,u2, u3

inf

3x3 y2, y3, y5, u2,u3, u4

inf

y2, y3, y5, u1,u3, u4

inf

y2, y3, y5, u1,u2, u4

inf

y2, y3, y5, u1,u2, u3

75.2414

-35.6319 -1.4522 1.4541 1.0000 1.0000 60.8000 -35.6300 1.0000 1.0000

70.4965 1.0673 1.0000 60.8000 1.0000 1.0000 35.6300 1.0000 1.0000

70.4965

y2, y3, y4, u2,u3, u4

60.8

60.8

y2, y3, y4, u1,u3, u4

-35.63

35.63

y2, y3, y4, u1,u2, u4

inf

y2, y3, y4, u1,u2, u3

inf

u2
y1 y2 y3 y4 -61.99 60.8 0 0

u3
0 0 1 0

analysis

action

matrix

variables

determinant |K|

CN < 10

proceed RGA

y2, y3, y4, u3, u4, u5

-24.17

CN > 10 difficult to run 3x3 multi loop system determinant = 0, matric is singular, not linearly independent, difficult to control determinant = 0, matric is singular, not linearly independent, difficult to control determinant = 0, matric is singular, not linearly independent, difficult to control determinant = 0, matric is singular, not linearly independent, difficult to control CN > 10 difficult to run 3x3 multi loop system determinant = 0, matric is singular, not linearly independent, difficult to control

proceed 2x2

y2, y3, y4, u2, u4, u5

eliminate

y2, y3, y4, u2, u3, u5

eliminate

y2, y3, y4, u2, u3, u4

60.8

eliminate

y1, y3, y4, u3, u4, u5

26.31

eliminate

y1, y3, y4, u2, u4, u5

proceed 2x2

y1, y3, y4, u2, u3, u5

eliminate 3x3

y1, y3, y4, u2, u3, u4

-61.99

3x3

determinant = 0, matric is singular, not linearly independent, difficult to control determinant = 0, matric is singular, not linearly independent, difficult to control determinant = 0, matric is singular, not linearly independent, difficult to control CN > 10 difficult to run 3x3 multi loop system

eliminate

y1, y2, y4, u3, u4, u5

eliminate

y1, y2, y4, u2, u4, u5

101.3497

eliminate

y1, y2, y4, u2, u3, u5

proceed 2x2

y1, y2, y4, u2, u3, u4

CN > 10 difficult to run 3x3 multi loop system

proceed 2x2

y1, y2, y3, u3, u4, u5

CN > 10 difficult to run 3x3 multi loop system determinant = 0, matric is singular, not linearly independent, difficult to control determinant = 0, matric is singular, not linearly independent, difficult to control

proceed 2x2

y1, y2, y3, u2, u4, u5

eliminate

y1, y2, y3, u2, u3, u5

101.3497

eliminate

y1, y2, y3, u2, u3, u4

u4
0 0 0 1

u5
26.31 -24.17 0 0

eigen value ()

single value (SV)

condition num (CN)

analysis

action

-2.8913 1.4456 + 2.5039i 1.4456 - 2.5039i

24.17

CN > 10 difficult to run 3x3 multi proceed 2x2 loop system

inf

determinant = 0, matric is singular, not linearly independent, difficult eliminate to control determinant = 0, matric is singular, not linearly independent, difficult eliminate to control

inf

1.0000 1.0000 60.8000 -1.4871 + 2.5758i -1.4871 - 2.5758i 2.9742

60.8000 1.0000 1.0000 26.3100 1.0000 1.0000

60.8

CN > 10 difficult to run 3x3 multi proceed 2x2 loop system

26.31

CN > 10 difficult to run 3x3 multi proceed 2x2 loop system determinant = 0, matric is singular, not linearly independent, difficult eliminate to control determinant = 0, matric is singular, not linearly independent, difficult eliminate to control CN > 10 difficult to run 3x3 multi proceed 2x2 loop system

inf

inf

-61.9900 1.0000 1.0000

61.9900 1.0000 1.0000

61.99

inf

determinant = 0, matric is singular, not linearly independent, difficult eliminate to control CN > 10 difficult to run 3x3 multi proceed 2x2 loop system determinant = 0, matric is singular, not linearly independent, difficult eliminate to control determinant = 0, matric is singular, not linearly independent, difficult eliminate to control determinant = 0, matric is singular, not linearly independent, difficult eliminate to control determinant = 0, matric is singular, not linearly independent, difficult eliminate to control CN > 10 difficult to run 3x3 multi proceed 2x2 loop system determinant = 0, matric is singular, not linearly independent, difficult eliminate to control

-61.5707 -1.5097 1.0904

93.8863 1.0795 1.0000

93.8863

inf

inf

inf

inf

-61.5707 -1.5097 1.0904

93.8863 1.0795 1.0000

93.8863

inf

3 X 3 system to proceed with RGA K H = (K^-1)'

u3 y3 y4 y5
1 0 0

u4
0 1 0

u5
0 0 -1.14 1 0 0 0 1 0

u2 y3 y4 y5
0 0 2.18

u3
1 0 0

u4
0 1 0 0 0 0.4587 1 0 0

H = (K^-1)' 0 0 -0.8772 1 0 0

K*H 0 1 0 0 0 1

Possible Pairings y3u3, y4u4, y5u5

0 1 0

0 0.4587 0

0 0 2.18

1 0 0

y3u4