A decentralized PID controller for interacting non linear systems

The interactions between input/output variables are a common phenomenon and the main obstacle encountered in the design of multi-loop controllers for interacting multivariable processes. In this paper, a method for controlling multivariable processes is presented. The controller design is divided into two parts: firstly, a decoupling matrix is designed in order to minimize the interaction effects. Then, the controller design is obtained for the process + decoupler block. The aim is to meet the design specifications for each loop independently. This method for multivariable decoupling and multiloop PID controller is applied to Two Tank Conical Interacting System (TTCIS). This TTCIS is considered as two tank benchmark problem used by many researchers. Simulation results and experimental results with TTCIS are provided to demonstrate the effectiveness and practicality of the proposed method.