Multivariable PID control with set-point weighting via BMI optimisation |
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Authors: | Fernando D Bianchi [Author Vitae] Ricardo J Mantz [Author Vitae] [Author Vitae] |
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Affiliation: | Laboratorio de Electrónica Industrial, Control e Instrumentación (LEICI), Facultad de Ingeniería, Universidad Nacional de La Plata, CC 91, 1900 La Plata, Argentina |
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Abstract: | The paper focuses on the design of multivariable PID controllers with set-point weighting. The advantage of this PID structure is that the responses of the system to disturbances and to changes in the set-point can be adjusted separately. The proposed design methods rely on the transformation of the tuning of the controller gains into a static output feedback (SOF) problem. Hence, multivariable PID controllers can be designed by solving an optimisation problem with bilinear matrix inequalities (BMIs). The paper addresses the design of both time-invariant and gain-scheduled robust controllers. All of the tuning methods discussed through the paper are based on a PID structure with filtered derivative term, thus guaranteeing the well-posedness of the closed loop system. |
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Keywords: | PID control Robust control Gain scheduling Bilinear matrix inequality (BMI) Linear parameter varying systems |
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