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A Robust Decentralized PID Controller Based on Complementary Sensitivity Function for a Multivariable System
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DOI：10.1109/TCSII.2019.2943382.png)
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Abstract
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This brief presents design, development and real-time implementation of a robust decentralized PID controller based on complementary sensitivity function through a graphical tuning method for a multivariable system. H-infinity criterion is adopted to find out the controller parameters of the proposed robust decentralized PI controller. To verify efficacy of the proposed controller, its performance is compared with that of other decentralized PI controllers. The proposed controller is implemented in real-time on a coupled tank liquid level system. From the simulation and experimental results obtained, it is observed that the proposed controller exhibits superior control performance over other decentralized PI controllers.
Keywords:
Sensitivity
MIMO communication
PI control
Tuning
Uncertainty
Transfer functions
Circuits and systems
Multivariable system
decoupling control
decentralized control
robust control
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