PID controller design for disturbed multivariable systems

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PID controller design for disturbed multivariable systems

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A linear-quadratic-regulator-based design methodology is proposed to design proportional-integral-derivative (PID) controllers for multivariable systems with load disturbances. Except for a few parameters that are preliminarily selected, most of the PID parameters are systematically tuned using the developed plant state-feedback and controller state-feedforward LQR approach, such that satisfactory performance with guaranteed closed-loop stability is achieved. In order to access the plant state variables and carry out disturbance rejection, an observer-based disturbance rejection technique is proposed, which through an ‘equivalent disturbance’ concept, retains the observation error to be used for disturbance compensation. This makes disturbance measurement unnecessary and the disturbance rejection tuning independent of the set-point response adjustment. A robust stability analysis is also included for the modelling error. An illustrative example is given for comparison with alternative techniques.

Inspec keywords: control system synthesis; multivariable control systems; three-term control; linear quadratic control; robust control; state feedback; closed loop systems; distributed control; observers

Other keywords: robust stability; proportional integral derivative control; disturbance measurement; observer; PID control design; load disturbance; plant state feedback; distributed multivariable system; closed loop stability; linear quadratic regulator

Subjects: Optimal control; Multivariable control systems; Control system analysis and synthesis methods; Stability in control theory

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