Research on performance robustness of PID control for TITO process with time delays

PID controller has simple structure and easy applicability with strong performance robustness. Decentralized PID controller and decoupling PID controller are widely adopted in the control of two-input-two-output (TITO) processes. Firstly, a simple decoupling controller matrix and a desired dynamic decoupling controller matrix are designed according to the idea of coupling matrix. And then three schemes of controller including decentralized PID controller, simple PID decoupling controller and desired dynamic PID decoupling controller are provided based on the excellent characteristic of DDE. Lastly, the Monte-Carlo stochastic experiment is introduced to analyze performance robustness of the controllers. The simulation experiments illustrate that the simple decoupling control scheme has the ability of complete decoupling and better performance robustness.