P·quasi-I·D control for MIMO systems —Stabilization based on high gain output feedback—

This paper is concerned with regulator problem for MIMO systems with Pldrquasi-IldrD control. The Pldrquasi-IldrD control is constructed by modifying the integral operation of the PID control. The purpose is to design a Pldrquasi-IldrD controller for aysmptotic stabilization and to adjust PID parameter matrices for improving convergence speed of responces under guaranteeing the stability. In our method, we consider a certain hypothetical system derived from the closed loop system with Pldrquasi-IldrD control in order to apply high gain output feedback. Then the PID parameter matrices are adjusted by making zero dynamics of the hypothetical system asymptotically stable and performing the high gain output feedback. The proposed method is fundamentally based on the high gain output feedback theorem. The effectiveness of the method is confirmed by simulation results for unstable MIMO plants.