u1 = -k1 * (y1 - r1)
Consider a simple example of a 2-input, 2-output system: convert msor to sor
dx1/dt = -x1 + u1 dx2/dt = -x2 + u2 y1 = x1 y2 = x2 u1 = -k1 * (y1 - r1) Consider