Uma nova condição quase-LMI para projeto de controladores PID multivariáveis

Abstract

This paper addresses the multivariable PID control design for linear systems in the state-space representation. The proposed design condition can be applied to multiple-input and multiple-output systems and does not require a state-space realization in any specific canonical form. In particular, the condition proposed in the form of linear matrix inequalities ensures the D-stability of the closed-loop system. It can be solved without resorting to iterative procedures. The condition is evaluated numerically and experimentally. The numerical simulations illustrate the advantages of the proposed approach, including the conservativeness reduction compared with related works. In the experimental evaluation, the PID controller was designed to stabilize the pitch angle dynamics of a twin-rotor system.