Tuning method for two-input-two-output I-PD type decoupling control based upon step response shapes

A tuning method is proposed for two-input-two-output I-PD type decoupling control observing the step response shapes. The roles of the parameters in the compensator and controller are analyzed, tuning procedures are proposed, and sample designs are shown. By the tuning any step response shape can be attained so long as it is within the range of tuning parameters.