DESIGN OF ROBUST MULTIVARIABLE PID CONTROLLERS VIA IMC PID 相关论文.pdfVIP

Proceedings of the American Control Conference Albuquerque, New Mexico June 1997 0-7803-3832-4/97/$10.00 0 1997 AACC Design of Robust Multivariable PID Controllers via IMC Jiawen Dong and Coleman B. Brosilow Chemical Engineering Department Case Western Reserve University Cleveland, Ohio44106 j xd@po . and cbb@po.cwru .edu Abstract Rivera et al (1986) introduced the concept of obtaming We obtain a general form for the parameters of PID controller parameters by approximating the simple multivariable PID controllers by Maclaurin series expansion feedback form of an IMC controller. Brosilow (1992 and of the simple feedback form of a multivariable IMC 1996) generalized this approach by expanding the transfer controller. The IMC controller is designed to provide function of the feedback form of the IMC controller in a decoupled control, and is tuned either to accommodate Maclaurin series about zero, and dropping all terms hgher modeling uncertainties using multivariable Mp tuning, or to than second order in the Laplace variable. Numerous get the best possible PID responses. Application of the examples show that the PID controller so obtained performs multivariable PID controllers to simulations of three as well as the IMC controller, even for relatively small IMC distillation mod