Noninteracting PID Control using Precompensators with Series - Parallel Connections

Contro//ed variables in multivariable systems interact each other in general, therゆIre,it is neceSSGlァtoremove their interaction sufficient/y for the design of control systems. A cross controller was山 edfor removing the interaction thus far mainly, however, itwas complicated and the cont1・o//erwas high-order. On the other hand , the precompensator by the inverseめJquistarrの methodwas a/so山 edfor noninteraction of the controlled variables. However it is difficult to remove the interaction of the controlled system, which has veη strong interaction, when the precompensaωr is used only one. This paper proposes the series and/or parallel connections of the precompensatorsfor noninteracting PID contro/.