Tuning of a Multivariable PID Controller on Frequency Domain and Its Application.

We outline the design method of a multivariable PID controller based on frequency domain analysis. The method is based on the determination of multivariable PID controller parameters by achieving partial model matching so as to minimize performance functions with respect to the relative model error between the loop transfer function matrix of the control system and the reference model. The proposed method is evaluated experimentally using position control of a parallel pendulum system. The effectiveness of the method is confirmed through practical examination.