MIMO Controller Design Using SISO Controller Design Methods

Centralized Inverted Decoupling Control

“…If the non-realizability comes from an element with a non-causal time delay, an additional time delay θ ii is specified in n ii (s). If it comes from a RHP zero z, which becomes into unstable poles, this RHP zero is added together with its mirrored pole and the proper multiplicity η ii as in (17). If it comes from a properness problem, a simple stable pole with a small time constant τ and the adequate multiplicity r ii is inserted as it is shown in (18).…”

“…On the other hand, Figure 1b represents a pure centralized control system with K(s) being the n-dimensional full matrix controller. Under the paradigm of decoupling control, some methodologies [17][18][19][20][21][22][23][24] have been developed using this scheme. Most of them propose to find a K(s)…”

Centralized multivariable control by simplified decoupling

“…K(s) works as the only block to control the different measurement signals and to reduce the interactions. In recent years, several methodologies were developed for this design [16][17][18][19][20][21][22][23].…”

“…They are preferred over more advanced controllers in practical applications unless PID controls cannot meet the specifications. Therefore, the resultant controller K(s) in several methodologies [16,21,22,23] is a multivariable PID control.…”

“…When extra dynamics is inserted in a column to obtain realizability, the general expression of the decoupler elements is given by (16). All elements of the same column j are multiplied by n j (s), and the previous unitary element is now equal to n j (s).…”