Design of adaptive digital set-point tracking PID controllers incorporating recursive step-response matrix identifiers for multivariable plants

It is shown that, by incorporating fast on-line recursive identifiers to provide updated step-response matrices for inclusion in digital proportional-plus-integral-plus-derivative control laws, highly effective adaptive digital set-point tracking controllers can be readily designed for multivariable plants. The effectiveness of such an adaptive controller is illustrated by designing a digital set-point tracking controller for a distillation column.