Automated synthesis of decentralized tuning regulators for systems with measurable DC gain

The design of decentralized integral tuning regulators (DTR) for unknown MIMO linear time-invariant plants is considered. It is assumed that the DC gain matrix A of the plant can be measured. Then, given A, an algorithm for determining a sequence for implementing and adjusting the local controllers is presented. The sequence is chosen so that the sensitivities of the critical poles (with respect to the tuning parameters) introduced by the integral controllers have a desired minimum magnitude with respect to the tuning parameter. The algorithm can also be used to calculate the static precompensators for the subsystems. Tuning is made automatic by means of an autotuner. This results in a fully automated DTR synthesis procedure