Next Article in Journal
Safety-Oriented Model Predictive Control for Autonomous Vehicles: A Systematic Review
Previous Article in Journal
Multi-Criteria Optimization in the Mining Industry Using a Genetic Algorithm
 
 
Search for Articles:
Title / Keyword
Author / Affiliation / Email
Journal
Article Type
 
 
Advanced Search
 
Section
Special Issue
Volume
Issue
Number
Page
 
Journals
Automation
Volume 7
Issue 3
10.3390/automation7030089
automation-logo
Submit to this Journal Review for this Journal Propose a Special Issue
► Article Menu

Article Menu

share Share announcement Help format_quote Cite
first_page
settings
Order Article Reprints
Font Type:
Arial Georgia Verdana
Font Size:
Aa Aa Aa
Line Spacing:
Column Width:
Background:
This is an early access version, the complete PDF, HTML, and XML versions will be available soon.
Article

On the Sensitivity of Characteristic Transfer Functions of Multivariable Control Systems

by
Oleg Gasparyan
*,
Nerses Nersisyan
,
Liana Buniatyan
,
Ovsanna Ohanyan
,
Mariam Darakhchyan
,
Karlen Begoyan
,
Davit Danielyan
and
Mkrtich Harutyunyan
Aerial Robotics Center, National Polytechnic University of Armenia, Yerevan 0009, Armenia
*
Author to whom correspondence should be addressed.
Automation 2026, 7(3), 89; https://doi.org/10.3390/automation7030089 (registering DOI)
Submission received: 6 April 2026 / Revised: 25 May 2026 / Accepted: 6 June 2026 / Published: 9 June 2026
(This article belongs to the Section Control Theory and Methods)
Review Reports Versions Notes

Abstract

In the paper, a systematic treatment of sensitivity analysis of multivariable cont rol systems within the framework of the characteristic transfer functions (CTFs) method is given. The CTFs method (also called characteristic gain loci method) allows one to associate with an N-dimensional multi-input multi-output (MIMO) system a set of N independent single-input single-output (SISO) characteristic systems and thereby to reduce the analysis and design of a MIMO system to the analysis and design of N SISO systems. The formulas determining the sensitivity functions of the CTFs and the sensitivity vectors of the canonical basis axes to small variations of parameters of general type MIMO systems are derived. The relations between the sensitivity functions of the open-loop and closed-loop MIMO systems are established. Two illustrative examples are considered. The first of them concerns the sensitivity of a two-dimensional non-robust system with a large degree of skewness of the canonical basis axes. In the second example, the sensitivity of the control system of a hexacopter (a multirotor UAV with six rotors) to small degradations in motors efficiency is analyzed.
Keywords: multivariable control system; characteristic transfer functions; canonical basis; sensitivity; parameter perturbation multivariable control system; characteristic transfer functions; canonical basis; sensitivity; parameter perturbation

Share and Cite

MDPI and ACS Style

Gasparyan, O.; Nersisyan, N.; Buniatyan, L.; Ohanyan, O.; Darakhchyan, M.; Begoyan, K.; Danielyan, D.; Harutyunyan, M. On the Sensitivity of Characteristic Transfer Functions of Multivariable Control Systems. Automation 2026, 7, 89. https://doi.org/10.3390/automation7030089

AMA Style

Gasparyan O, Nersisyan N, Buniatyan L, Ohanyan O, Darakhchyan M, Begoyan K, Danielyan D, Harutyunyan M. On the Sensitivity of Characteristic Transfer Functions of Multivariable Control Systems. Automation. 2026; 7(3):89. https://doi.org/10.3390/automation7030089

Chicago/Turabian Style

Gasparyan, Oleg, Nerses Nersisyan, Liana Buniatyan, Ovsanna Ohanyan, Mariam Darakhchyan, Karlen Begoyan, Davit Danielyan, and Mkrtich Harutyunyan. 2026. "On the Sensitivity of Characteristic Transfer Functions of Multivariable Control Systems" Automation 7, no. 3: 89. https://doi.org/10.3390/automation7030089

APA Style

Gasparyan, O., Nersisyan, N., Buniatyan, L., Ohanyan, O., Darakhchyan, M., Begoyan, K., Danielyan, D., & Harutyunyan, M. (2026). On the Sensitivity of Characteristic Transfer Functions of Multivariable Control Systems. Automation, 7(3), 89. https://doi.org/10.3390/automation7030089

Article Metrics

Back to TopTop