Tuning of PI controllers with one-way decoupling in 2×2 MIMO systems based on finite frequency response data

A method of tuning for PI controllers with one-way lead/lag decoupling tuning is demonstrated for 2×2 input-output systems, based on finite frequency response data. The frequency response estimates are obtained from closed loop tests using an identification technique based on bandpass filters. The open-loop frequency response is calculated and used to tune PI controllers and to fit lead-lag compensators for decoupling by weighted least-squares. Separate optimization of the PI controllers and the lead-lag compensator is preferred. The tuning takes into account violations of desired multivariable robustness criteria. The method is illustrated by application to a paper machine headbox simulation and by experiments in distillation column temperature control.