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Analytical decoupling PI/PID controller design for two-by-two processes with time delays

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3 Author(s)
Liu, Y.Y. ; Dept. of Autom., Shanghai Jiaotong Univ. ; Zhang, W.D. ; Ou, L.L.

An analytical non-diagonal PI/PID controller design method is proposed for two-by-two (TITO) processes with time delays. By extending the concept of coupling matrix for uncertain multivariable delay-free processes to TITO processes with time delays, the relation between the non-diagonal and the diagonal elements of decoupling controller is determined, and thus, the realisable optimal closed-loop transfer function can be intuitively identified. The decoupling controller is derived inversely from the proposed closed-loop transfer function. Pade approximation is then utilised to reproduce the decoupling controller in the form of a non-diagonal PI/PID controller for implementation. Tuning rules for the proposed controller are developed based on system robust stability analysis. Simulation examples are included to show the superiority of the proposed method.

Published in:

Control Theory & Applications, IET  (Volume:1 ,  Issue: 1 )