Description: A system can either be described as a MIMO system, having multiple inputs and outputs, therefore requiring more than one controller or a SISO system, consisting of a single input and single output, hence having only a single controller. Depending on the set-up of the physical (or non-physical) system, adjusting the system s input variable (assuming it is SISO) will affect the operating parameter, otherwise known as the controlled output variable. Upon receiving the error signal that marks the disparity between the desired value (setpoint) and the actual output value, the controller will then attempt to regulate controlled output behaviour. The controller achieves this by either attenuating or amplifying the input signal to the plant so that the output is returned to the setpoint. For example, a simple feedback control system, such as the one shown on the right, will generate an error signal that s mathematically depicted as the difference between the setpoint value and the output value, r-y.
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