Optimal H2 - IMC based PID Controller Design for Multivariable Unstable Processes

IMC based PID controller with lead-lag filter is designed for multivariable unstable processes. The design is based on H-2 optimal closed loop transfer function for set point changes and step input disturbances. The individual controllers arc designed based on the corresponding equivalent transfer function (ETF) model. Simplified decouplers are designed based on the ETF model. Two examples arc considered to show the closed loop responses. The proposed method provides significantly improved closed loop performances when compared to the methods in the literature. (C) 2016, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.