A computational method of the feedback gains of multi-variable PID control systems.

Abstract

In this paper, a method is presented for determining the feedback gains of multivariable PID control systems. In multivariable control systems, decoupling of the responses frequently becomes important property for which much attentions is to be paid. S. Thompson has proposed a method of designing the multivariable PID control system taking into consideration the decoupling property. He assumes that the open-loop plant is stable and its responses to step inputs are nonscillatory. For such a plant, no mathematical model is required. In this paper, the mathematical models for the plant, that is, state equation and output equation, are assumed to be given. The method proposed here refers to that of Thompson, improves it, and is also applicable to the case that the responses to step inputs are oscillatory. Two examples show that the proposed method is effective from the viewpoint of decoupling the responses.