Design of high-performance MIMO PI-type compensators

Considers linear time-invariant multi-input multi-output (MIMO)systems that are stabilizable by proportional-integral (PI) compensators. Such systems are also stabilizable by a PI-type compensator to be denoted by PI/P. The PI/P compensator consists of a PI compensator in the feedforward loop preceding the plant to be controlled, and a proportional gain in a feedback loop around the plant. Systems that are controlled by the PI/P compensators achieve a better performance. The authors present an efficient and easy-to-implement algorithm for computing the optimal gains of the PI and PI/P compensators