Design of PI and PID controllers for multivariable systems based on time-scale separation technique

Problem of PI and PID multivariable controller design based on time-scale separation technique for linear time-invariant systems is discussed. Properties of tracking and stabilizing multivariable controllers are treated. Generalized multivariable controllers are proposed for MIMO systems when the conditions of invertibility and internal stability hold. The internal stability analysis of the system is based on consideration of the normal canonical form. Simulation results and comparison of tracking and stabilizing multivariable controllers are presented.