Brief paper: Multivariable PID control with set-point weighting via BMI optimisation

  • Authors:

  • Fernando D. Bianchi;Ricardo J. Mantz;Carlos F. Christiansen

  • Affiliations:

  • Laboratorio de Electrónica Industrial, Control e Instrumentación (LEICI), Facultad de Ingeniería, Universidad Nacional de La Plata, CC 91, 1900 La Plata, Argentina;Laboratorio de Electrónica Industrial, Control e Instrumentación (LEICI), Facultad de Ingeniería, Universidad Nacional de La Plata, CC 91, 1900 La Plata, Argentina;Laboratorio de Electrónica Industrial, Control e Instrumentación (LEICI), Facultad de Ingeniería, Universidad Nacional de La Plata, CC 91, 1900 La Plata, Argentina

  • Venue:
  • Automatica (Journal of IFAC)
  • Year:
  • 2008

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Abstract

The paper focuses on the design of multivariable PID controllers with set-point weighting. The advantage of this PID structure is that the responses of the system to disturbances and to changes in the set-point can be adjusted separately. The proposed design methods rely on the transformation of the tuning of the controller gains into a static output feedback (SOF) problem. Hence, multivariable PID controllers can be designed by solving an optimisation problem with bilinear matrix inequalities (BMIs). The paper addresses the design of both time-invariant and gain-scheduled robust controllers. All of the tuning methods discussed through the paper are based on a PID structure with filtered derivative term, thus guaranteeing the well-posedness of the closed loop system.