Design of robust multivariable tuning regulators for infinite-dimensional systems by discrete-time input-output data

In this paper a robust multivariable I-controller is designed for a class of distributed parameter systems, using only discrete-time input-output data. The I-controller has the same form as a robust multivariable I-controller given by Davison in the case of continuous-time input-output data. The construction of the I-controller is also based on step responses.