MIMO PID Controller Design Based on Integral-Type Optimal Servomechanism and Its Extension to Model-Following-Type

摘要

This paper presents a design method of an MIMO integral preceded by proportional-derivative (I-PD) controller based on an integral-type optimal servomechanism. The proposed method 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 order of a given MIMO plant is equal to or less than twice the number of the outputs, the resultant control law is equivalent to an I-PD one. Moreover, the proposed I-PD controller design can be extended to a model-following type by adding a reference model and a feedforward compensator for a desirable output response. Controller design examples and numerical simulation studies are carried out in order to demonstrate that the proposed design method has sufficient effectiveness.