MIMO PID controller synthesis with closed-loop pole assignment

Abstract

For certain classes of linear, time-invariant, multi-input multi-output plants, a systematic synthesis is developed for stabilization using Proportional + Integral + Derivative (PID) controllers, where the closed-loop poles can be assigned to the left of an axis shifted away from the origin. The real-parts of the closedloop poles can be smaller than any given negative value for some of these classes. The classes that admit PID-controllers with this property of small negative real-part assignability of closed-loop poles include stable and some unstable plants. © Springer Science+Business Media B.V. 2009.