Decentralized two degree of freedom PID tuning method for MIMO processes

A tuning method for decentralized PI/PID with set-point weighting or 2DOF PI/PID controller is proposed in this paper. The tuning method is based on frequency domain analysis of a decentralized robust controller. In this method, desired dynamic equation (DDE) is designed firstly to meet the control specifications, and then the relation between desired dynamic equation parameters and controller parameters is given. The proposed tuning method is applied to a variety of 2 times 2, 3 times 3 and 4 times 4 models from literature and compared with the methods in references. Simulation results demonstrate that the proposed tuning method is of feasibility and effectiveness for multivariable processes. And because of its simplicity, the proposed method is applicable for the high dimensional ones. Besides, in this tuning method, each parameter has clear meaning and exact model expression is not indispensable, which makes it possible to apply the proposed method to practical industry.