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MIMO PID Tuning via Iterated LMI Restriction

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Author

Summary, in English

We formulate multi-input multi-output (MIMO) proportional-integral-derivative (PID) controller design as an optimization problem that involves nonconvex quadratic matrix inequalities. We propose a simple method that replaces the nonconvex matrix inequalities with a linear matrix inequality (LMI) restriction, and iterates to convergence. This method can be interpreted as a matrix extension of the convex-concave procedure, or as a particular majorization-minimization (MM) method. Convergence to a local minimum can be guaranteed. While we do not know that the resulting controller is globally optimal, the method works well in practice, and provides a simple automated method for tuning MIMO PID controllers. The method is readily extended in many ways, for example to the design of more complex, structured controllers.

Publishing year

2015

Language

English

Pages

1718-1731

Publication/Series

International Journal of Robust and Nonlinear Control

Volume

26

Issue

8

Document type

Journal article

Publisher

John Wiley & Sons Inc.

Topic

  • Control Engineering

Keywords

  • MIMO PID tuning Convex optimization

Status

Published

Project

  • PID Control
  • PICLU

Research group

  • LCCC

ISBN/ISSN/Other

  • ISSN: 1099-1239