67 Realising MIMO

Then we take $U$ and $X$ as inputs into the system

Y=CX+DU.

Remark

If in MIMO we replace the integrator $\int$ by multiplication by $1/s$ we obtain

\hat{X}=(1/s)A\hat{X}+(1/s)B\hat{U}

\hat{Y}=C\hat{X}+D\hat{U}

with solution

\hat{Y}=(D+C(sI-A)^{-1}B)\hat{U}.