Two Degee of Freedom Control of MIMO plant using PID and decoupling matrix

A modified scheme is proposed for control of MIMO plant using a PID and decoupling matrix. The goal is better performance of the closed loop systems and increased stability margin. By using a relay experiment an oscillating ultimate frequency is found, when the system is at the verge of instability. Using this estimation one applies a correction, which increases the stability margin of the closed loop system.