基于H_∞控制的多变量系统PID控制器设计

研究了基于环路成形Ｈ∞控制的多变量系统ＰＩＤ控制器设计。为了能方便地在实际工程中实现复杂的控制，提出了采用多变量ＰＩＤ控制器逼近所得高阶控制器的方法，并给出了如何选择影响闭环系统性能的预补偿器方法。这种设计方法的主要特点是，只通过调整反映闭环系统的鲁棒稳定性与时域性能的一个设计参数，便可以得到ＰＩＤ控制器。仿真结果表明，所得的多变量ＰＩＤ控制器具有较好的鲁棒稳定性和鲁棒性能。

PID contreller design based on control for multivariable processes

PID controller design for multivariable processes is studied in this paper based on loop-shaping control. In order to implement the complex controller, a method to reduce it to a multivariable PID controller is proposed. A method to choose the pre-compensator is also given to determine the performance of the closed-loop system. Their main contribution is that the PID parameters can be obtained using one design parameter which reflects the trade-off between stability robustness and time domain performance of the closed-loop system. Simulation shows that the designed multivariable PID controller have good robust stability and performance.