Multivariable self-tuning controller with I-PD structure

The authors propose a multivariable self-tuning controller based on I-PD type control. First, they construct a model matching control system with I-PD structure. In a discrete-time I-PD type control system one cannot construct the model matching control system due to the time-delay element. Then, the authors introduce a precompensator and construct an I-PD type control system for the extended system. Next, they consider a self-tuning algorithm of PID (proportional plus integral plus derivative) gain matrices included in this control system. Furthermore, they propose a discrete-time reference model. Finally, they present a numerical simulation result in order to show the effectiveness of the proposed control algorithm