Closed-loop evaluation and redesign of decentralized PI controllers satisfying classical robustness measures

In this paper it is proposed a procedure for MIMO closed-loop evaluation and decentralized PI controller redesign using a relay-based experiment in a sequential manner. The experiment data is used to evaluate the actual MIMO closed-loop. It is evaluated using classical robustness measures of each loop. The aim of the controller redesign is to achieve a closed-loop with classical robustness measures around the redesign specifications. Simulation examples illustrate the redesign procedure.