METHODS OF DESIGNING OPTIMAL LINEAR CONTROLLERS AND CONTROLLERS DESIGNED USING THE METHODS

摘要

Methods of designing the structure of multiple-input multiple-output (MIMO)PID controllers and methods of finding the optimal values for the MIMO PIDparameters are disclosed. The optimal values of MIMO PID parameters areobtained by using an optimization algorithm which minimizes the largestmodulus of all poles of the discrete time closed loop transfer function fromset point SP to process variable PV, with or without user prescribedconstraints on the PID parameters. Methods of designing the structure ofsingle-input single-output (SISO) PID controllers and methods of finding theoptimal values for SISO PID parameters are also disclosed as special MIMO PIDcontroller cases.