MIMO Control of a Torsion Plant. Assume that the torsion plant from Problem P10-4 has two torque inputs instead of one - one to actuate the bottom inertia and another to actuate the top. Design a MIMO control system to control the positions of the rotational inertias. Use a method of your choosing with appropriate design specifications. Plot the angular displacements of the two inertias for specified displacements of your choosing.

Problem P10-4:

Controllability and Observability of a Torsion Plant. Determine the state controllability, output controllability, and observability of the rotational system depicted in Figure 7.17. Recall that the system parameters were provided in Table 7.1. The input is the torque and the outputs are the angular displacements of the two rotational inertias.