A Design Method of I-PD controller for Multivariable Systems

In this paper, we propose a design method of an I-PD controller which can construct servo systems for linear multivariable systems. The equation for determining the parameter matrices of an I-PD controller (the design equation of an I-PD controller) in the proposed method is a linear matrix equation, which is obtained based on the idea of matching an I-PD control law to the state feedback control law that construct servo systems for multivariable systems. The parameter matrices of an I-PD controller is obtained by solving this linear matrix equation. Moreover, we show the relation between the design equation of an I-PD controller in the proposed method and the design equation of an I-PD controller obtained from the integral type servo control law. We consider the effectiveness of the I-PD controller obtained by the proposed method based on this relation. The usefulness of the proposed method is confirmed through simulation.