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IMA Journal of Mathematical Control and Information 2004 21(4):433-456; doi:10.1093/imamci/21.4.433
© 2004 by Institute of Mathematics and its Applications
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Digital PID controller design for multivariable analogue systems with computational input-delay

Yongpeng Zhang1, Leang-San Shieh1,*, Ce Richard Liu1 and Shu-Mei Guo2

1 Department of Electrical and Computer Engineering, University of Houston, Houston, TX 77204-4005, USA, 2 Department of Computer Science and Information Engineering, National Cheng-Kung University, Tainan, Taiwan 701, Republic of China

This paper presents a new methodology to design MIMO digital PID controllers for multivariable analogue systems with computational input time-delay. The preliminarily designed analogue PID controller is refined using a newly developed state-feedback and state-feedforward LQR approach. The optimally designed closed-loop system with the refined MIMO analogue PID controller has pre-assigned closed-loop eigenvalues. A prediction-based digital redesign technique is developed to discretize the cascaded MIMO analogue PID controller, such that the states of the digitally redesigned closed-loop sampled-data system with the MIMO digital PID controller are close to those of the analogously designed closed-loop system with the refined MIMO analogue PID controller. The aforementioned digital redesign technique is further modified based on the predictive control method to cope with MIMO analogue systems with input delay.

Keywords: optimal PID controller; digital redesign; multivariable system; input-delay system; sampled-data system.

Received 12 February 2003.

* Email: Lshieh{at}uh.edu


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