A Modified Method for Control of Mimo Plant Using Pid and Decoupling Matrix

Abstract

A modified scheme is proposed for control of MIMO plant using a PID and decoupling matrix. The goal better performance of the closed loop systems and in-creased stability margin. By using a relay experiment an oscillating ultimate frequency is found, when the system is on the verge of instability. Using this estimation one applies a correction, which increases the stability margin of the closed loop system.