Designing of complete multi-channel PD-regulators by numerical optimization with simulation

Design of multi-channel regulators by analytical methods is difficult. Numerical optimization methods in simulation simplify this task. However, it can produce system with too big overshoot. The paper proposes the use of incorrect movements´ detector (IMD). This detector is based on the integrating of the product of the loop error at its derivative. With this the full regulator is calculated, i.e. regulator containing no non-zero elements not only in the main diagonal of the transfer function matrix, but also in its other positions.