PI/PID controller designs for linear multivariable, SISO nonlinear and two degree of freedom control systems

This dissertation makes contributions in the following important areas of model based control. (1) Multivariable PI/PID controller designs (2) Nonlinear IMC and PID Controller Designs (3) The Design, Tuning and Implementation of SISO and MIMO Two Degree of Freedom Control Systems.; To convert the more advanced Internal Model Control (IMC) design methodology to the more traditional and understandable PI/PID controller, we obtain a general form for the parameters of various types of multivariable PI/PID controllers. This technique is realized by Maclaurin series expansion of the simple feedback form of a multivariable IMC controller. The IMC controller is designed to provide complete decoupled control, and is tuned either to accommodate modeling uncertainties using multivariable Mp tuning, or to get the best possible PID responses for a fixed model.; A general procedure is proposed for nonlinear IMC and PID controllers for single-input single-output nonlinear systems. The nonlinear IMC and PID controllers are designed to force the system output to track a desired linear closed-loop trajectory, which is tunable via a single, physically meaningful parameter: the trajectory filter time constant.; Two degree of freedom controllers can improve disturbance suppression over that achievable by standard one degree of freedom controllers. We present a new approach to the design and tuning of SISO and MIMO two degree of freedom control systems which guarantees improved performance over single degree of freedom controllers for uncertain processes, independent of the amount of uncertainty. We also show how to extend PI/PID and model state feedback control systems to two degree of freedom controllers for SISO and MIMO processes.