A multivariable compensation design algorithm using classical root locus methods

The use of observers, Kalman filters, and PID controllers in design can all be reformulated as a general filter in a feedback loop. Filter design such as PI controllers have been used for many years in industrial processes. However, the methodology in practical applications has been limited somewhat to minimization of a cost functional resulting in large computational burden or to closing one loop after another. This paper presents a design algorithm for pole assignment which gives the designer the freedom to use his expertise within a standardized framework. The algorithm presented is an extension of previous work [9] in which plant and compensator dynamics are described in such a way that the influence of compensation on the poles of the system is directly observed and root locus design techniques can be directly applied.