MIMOQCAD: a Mathematica based multivariable control system CAD package

Quantitative Feedback Theory (QFT) was developed by Horowitz (1963, 1992) as a methodology for designing robust control systems. It is a frequency based technique where compensators can be designed to achieve a set of performance and stability objectives over specified ranges of plant parameter uncertainty. The QFT technique has been neglected for many years for several reasons, one of which has been the lack of efficient CAD software. This situation has been remedied by the release of a number of software packages which has sparked a renewed interest in the technique. The paper describes one such package, MIMOQCAD, a Mathematica based package which automates the QFT design methodology for both multi-input, single-output (MISC) and multi-input, multi-output (MIMO) systems.