Abstract
This paper deals with a design method of decentralized PID control systems based on parameter tuning using partial model matching on frequency domain. Stability of the control system is also considered. It is shown that the diagonal dominance, which is necessary to realize a stable decentralized control system, can be relaxed by introducing a parallel feedforward compensator even if the plant has an unmodelled dynamics. Effectiveness of the method is confirmed through the numerical simulation.
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