Linear multivariable time-invariant system models, controlled by proportional regulators, are considered. Selection of the regulator gain elements so that a specified polynomial function is generated, to provide improved closed-loop properties, is advocated. The effect on the characteristics of the closed-loop system model is assessed using conventional frequency domain techniques. Control effort minimization is achieved by optimizing the gain ratios. An illustrative example is provided to demonstrate effectiveness. Simulated transient characteristics are computed, completing the design exercise thereby.
