A linear programming-based approach to I-PD controller design for MIMO system

Abstract

This study details a controller design approach based on linear programming (LP) for a multi-input-multi-output (MIMO) system. Authors has already proposed an LP approach for a single-input-single-output I-PD control system. The method involved constraints obtained from the Routh-Hurwitz stability criterion and a cost function by the final-value theorem. Based on the constraints and cost function, a method for determining the observer gains could be applied to the LP. In order to adopt the method to the MIMO system, the cost function, obtained from the final-value theorem (in an equivalent model of an observer), is defined as the sum of the cost function derived for each open-loop transfer function between the disturbance and plant output. The effectiveness of the proposed method was confirmed by performing simulations for two different plants.