MIMO PID Controller Synthesis with Closed-Loop Pole Assignment
For certain classes of linear, time-invariant, multi-input multi-output plants, a systematic synthesis is developed for stabilization using Proportional + Integral + Derivative (PID) controllers, where the closed-loop poles can be assigned to the left of an axis shifted away from the origin. The real-parts of the closed-loop poles can be smaller than any given negative value for some of these classes. The classes that admit PID-controllers with this property of small negative real-part assignability of closed-loop poles include stable and some unstable plants.
KeywordsSimultaneous stabilization and tracking PID control Integral action Stability margin
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