Design of An MIMO PID Flight Controller Based on Integral-Type Optimal Servomechanism

摘要

This paperpresents a design method of an MIMO I-PD (proportional-derivative preceded integral) controller based on an integral-type optimal servo one. The proposed method is extended from our SISO controller design method and consists of two steps. First, a given plant is represented in a specific state-space form, and then an integral-type optimal servo controller is designed. Although the resultant controller does not always become a typical I-PD one, when the number of the state variables of an MIMO plant is equal to or less than twice that of outputs, the resultant control law is equivalent to an I-PD one. In this paper, the proposed controller design method is applied to a flight controller design and a simulation study is carried out in order to demonstrate that the proposed design method has sufficient effectiveness.