Multivariable PID control by decoupling |
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Authors: | Juan Garrido Francisco Vázquez Fernando Morilla |
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Affiliation: | 1. Department of Computer Science and Numerical Analysis, University of Córdoba, Córdoba, Spain;2. Department of Computer Science and Automatic Control, UNED, Madrid, Spain |
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Abstract: | This paper presents a new methodology to design multivariable proportional-integral-derivative (PID) controllers based on decoupling control. The method is presented for general n × n processes. In the design procedure, an ideal decoupling control with integral action is designed to minimise interactions. It depends on the desired open-loop processes that are specified according to realisability conditions and desired closed-loop performance specifications. These realisability conditions are stated and three common cases to define the open-loop processes are studied and proposed. Then, controller elements are approximated to PID structure. From a practical point of view, the wind-up problem is also considered and a new anti-wind-up scheme for multivariable PID controller is proposed. Comparisons with other works demonstrate the effectiveness of the methodology through the use of several simulation examples and an experimental lab process. |
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Keywords: | decoupling control PID control multivariable control centralised control |
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